PIBNET is hard for NP, by reduction from 3-satisfiability in the propositional calculus [3]. That classification has focused research on approximate methods, special-case techniques, heuristics, and analyses of average-case behavior. There now exists a number of algorithms for exact probabilistic inference in belief networks: the message-passing algorithm of Pearl [ 12], the triangulation method of Lauritzen and Spiegelhalter [10], and others. Previous approximation algorithms include the Markov-simulation scheme of Pearl [13, 14], Henrion's logic sampling [7], and the randomized approximation scheme (ras), known as BN-RAS, which we have previously demonstrated [1]. Heckerman has proposed a special-case algorithm for certain kinds of two-level belief networks [6]. Each algorithm has computational properties that render it attractive for inference on certain kinds of networks. The NPhard classification suggests, however, that no algorithm can provide a definitive efficient solution for all inference problems.

In previous work (Fertig and Breese, 1989; Fertig and Breese, 1990) we defined a mechanism for performing probabilistic reasoning in influence diagrams using interval rather than point-valued probabilities. In this paper we extend these procedures to incorporate decision nodes and interval-valued value functions in the diagram. We derive the procedures for chance node removal (calculating expected value) and decision node removal (optimization) in influence diagrams where lower bounds on probabilities are stored at each chance node and interval bounds are stored on the value function associated with the diagram's value node. The output of the algorithm are a set of admissible alternatives for each decision variable and a set of bounds on expected value based on the imprecision in the input. The procedure can be viewed as an approximation to a full e-dimensional sensitivity analysis where n are the number of imprecise probability distributions in the input. We show the transformations are optimal and sound. The performance of the algorithm on an influence diagrams is investigated and compared to an exact algorithm.

We describe an environment that considerably simplifies the process of generating Bayesian belief networks. The system has been implemented on readily available, inexpensive hardware, and provides clarity and high performance. We present an introduction to Bayesian belief networks, discuss algorithms for inference with these networks, and delineate the classes of problems that can be solved with this paradigm. We then describe the hardware and software that constitute the system, and illustrate Ergo's use with several examples.

A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire knowledge about that environment. We describe a control system that chooses what activity to engage in next on the basis of expectations about how the information re- turned as a result of a given activity will improve 2 its knowledge about the spatial layout of its environment. Certain of the higher-level components of the control system are specified in terms of probabilistic decision models whose output is used to mediate the behavior of lower-level control components responsible for movement and sensing.

We present a new algorithm for finding maximum a-posterior) (MAP) assignments of values to belief networks. The belief network is compiled into a network consisting only of nodes with boolean (i.e. only 0 or 1) conditional probabilities. The MAP assignment is then found using a best-first search on the resulting network. We argue that, as one would anticipate, the algorithm is exponential for the general case, but only linear in the size of the network for poly trees.

We describe a method for incrementally constructing belief networks. We have developed a networkconstruction language similar to a forward-chaining language using data dependencies, but with additional features for specifying distributions. Using this language, we can define parameterized classes of probabilistic models. These parameterized models make it possible to apply probabilistic reasoning to problems for which it is impractical to have a single large, static model.

The intelligent reformulation or restructuring of a belief network can greatly increase the efficiency of inference. However, time expended for reformulation is not available for performing inference. Thus, under time pressure, there is a tradeoff between the time dedicated to reformulating the network and the time applied to the implementation of a solution. We investigate this partition of resources into time applied to reformulation and time used for inference. We shall describe first general principles for computing the ideal partition of resources under uncertainty. These principles have applicability to a wide variety of problems that can be divided into interdependent phases of problem solving. After, we shall present results of our empirical study of the problem of determining the ideal amount of time to devote to searching for clusters in belief networks. In this work, we acquired and made use of probability distributions that characterize (1) the performance of alternative heuristic search methods for reformulating a network instance into a set of cliques, and (2) the time for executing inference procedures on various belief networks. Given a preference model describing the value of a solution as a function of the delay required for its computation, the system selects an ideal time to devote to reformulation.

Kutato is a system that takes as input a database of cases and produces a belief network that captures many of the dependence relations represented by those data. This system incorporates a module for determining the entropy of a belief network and a module for constructing belief networks based on entropy calculations. Kutato constructs an initial belief network in which all variables in the database are assumed to be marginally independent. The entropy of this belief network is calculated, and that arc is added that minimizes the entropy of the resulting belief network. Conditional probabilities for an arc are obtained directly from the database. This process continues until an entropy-based threshold is reached. We have tested the system by generating databases from networks using the probabilistic logic-sampling method, and then using those databases as input to Kutato. The system consistently reproduces the original belief networks with high fidelity.

Within diagnostic reasoning there have been a number of proposed definitions of a diagnosis, and thus of the most likely diagnosis, including most probable posterior hypothesis, most probable interpretation, most probable covering hypothesis, etc. Most of these approaches assume that the most likely diagnosis must be computed, and that a definition of what should be computed can be made a priori, independent of what the diagnosis is used for. We argue that the diagnostic problem, as currently posed, is incomplete: it does not consider how the diagnosis is to be used, or the utility associated with the treatment of the abnormalities. In this paper we analyze several well-known definitions of diagnosis, showing that the different definitions of the most likely diagnosis have different qualitative meanings, even given the same input data. We argue that the most appropriate definition of (optimal) diagnosis needs to take into account the utility of outcomes and what the diagnosis is used for.

We propose an abductive diagnosis theory that integrates probabilistic, causal and taxonomic knowledge. Probabilistic knowledge allows us to select the most likely explanation; causal knowledge allows us to make reasonable independence assumptions; taxonomic knowledge allows causation to be modeled at different levels of detail, and allows observations be described in different levels of precision. Unlike most other approaches where a causal explanation is a hypothesis that one or more causative events occurred, we define an explanation of a set of observations to be an occurrence of a chain of causation events. These causation events constitute a scenario where all the observations are true. We show that the probabilities of the scenarios can be computed from the conditional probabilities of the causation events. Abductive reasoning is inherently complex even if only modest expressive power is allowed. However, our abduction algorithm is exponential only in the number of observations to be explained, and is polynomial in the size of the knowledge base. This contrasts with many other abduction procedures that are exponential in the size of the knowledge base.