The computational complexity of reasoning within the Dempster-Shafer theory of evidence is one of the main points of criticism this formalism has to face. To overcome this difficulty various approximation algorithms have been suggested that aim at reducing the number of focal elements in the belief functions involved. Besides introducing a new algorithm using this method, this paper describes an empirical study that examines the appropriateness of these approximation procedures in decision making situations. It presents the empirical findings and discusses the various tradeoffs that have to be taken into account when actually applying one of these methods.

This paper deals with a scene recognition system in a robotics contex. The general problem is to match images with a priori descriptions. A typical mission would consist in identifying an object in an installation with a vision system situated at the end of a manipulator and with a human operator provided description, formulated in a pseudo-natural language, and possibly redundant. The originality of this work comes from the nature of the description, from the special attention given to the management of imprecision and uncertainty in the interpretation process and from the way to assess the description redundancy so as to reinforce the overall matching likelihood.

A nonmonotonic logic of thresholded generalizations is presented. Given propositions A and B from a language L and a positive integer k, the thresholded generalization A=>B{k} means that the conditional probability P(B|A) falls short of one by no more than c*d^k. A two-level probability structure is defined. At the lower level, a model is defined to be a probability function on L. At the upper level, there is a probability distribution over models. A definition is given of what it means for a collection of thresholded generalizations to entail another thresholded generalization. This nonmonotonic entailment relation, called "entailment in probability", has the feature that its conclusions are "probabilistically trustworthy" meaning that, given true premises, it is improbable that an entailed conclusion would be false. A procedure is presented for ascertaining whether any given collection of premises entails any given conclusion. It is shown that entailment in probability is closely related to Goldszmidt and Pearl's System-Z^+, thereby demonstrating that the conclusions of System-Z^+ are probabilistically trustworthy.

Approximate models of world state transitions are necessary when building plans for complex systems operating in dynamic environments. External event probabilities can depend on state feature values as well as time spent in that particular state. We assign temporally -dependent probability functions to state transitions. These functions are used to locally compute state probabilities, which are then used to select highly probable goal paths and eliminate improbable states. This probabilistic model has been implemented in the Cooperative Intelligent Real-time Control Architecture (CIRCA), which combines an AI planner with a separate real-time system such that plans are developed, scheduled, and executed with real-time guarantees. We present flight simulation tests that demonstrate how our probabilistic model may improve CIRCA performance.

Graphical Markov models use graphs, either undirected, directed, or mixed, to represent possible dependences among statistical variables. Applications of undirected graphs (UDGs) include models for spatial dependence and image analysis, while acyclic directed graphs (ADGs), which are especially convenient for statistical analysis, arise in such fields as genetics and psychometrics and as models for expert systems and Bayesian belief networks. Lauritzen, Wermuth and Frydenberg (LWF) introduced a Markov property for chain graphs, which are mixed graphs that can be used to represent simultaneously both causal and associative dependencies and which include both UDGs and ADGs as special cases. In this paper an alternative Markov property (AMP) for chain graphs is introduced, which in some ways is a more direct extension of the ADG Markov property than is the LWF property for chain graph.

We developed the language of Modifiable Temporal Belief Networks (MTBNs) as a structural and temporal extension of Bayesian Belief Networks (BNs) to facilitate normative temporal and causal modeling under uncertainty. In this paper we present definitions of the model, its components, and its fundamental properties. We also discuss how to represent various types of temporal knowledge, with an emphasis on hybrid temporal-explicit time modeling, dynamic structures, avoiding causal temporal inconsistencies, and dealing with models that involve simultaneously actions (decisions) and causal and non-causal associations. We examine the relationships among BNs, Modifiable Belief Networks, and MTBNs with a single temporal granularity, and suggest areas of application suitable to each one of them.

We extend Gaussian networks - directed acyclic graphs that encode probabilistic relationships between variables - to its vector form. Vector Gaussian continuous networks consist of composite nodes representing multivariates, that take continuous values. These vector or composite nodes can represent correlations between parents, as opposed to conventional univariate nodes. We derive rules for inference in these networks based on two methods: message propagation and topology transformation. These two approaches lead to the development of algorithms, that can be implemented in either a centralized or a decentralized manner. The domain of application of these networks are monitoring and estimation problems. This new representation along with the rules for inference developed here can be used to derive current Bayesian algorithms such as the Kalman filter, and provide a rich foundation to develop new algorithms. We illustrate this process by deriving the decentralized form of the Kalman filter. This work unifies concepts from artificial intelligence and modern control theory.

The criterion commonly used in directed acyclic graphs (dags) for testing graphical independence is the well-known d-separation criterion. It allows us to build graphical representations of dependency models (usually probabilistic dependency models) in the form of belief networks, which make easy interpretation and management of independence relationships possible, without reference to numerical parameters (conditional probabilities). In this paper, we study the following combinatorial problem: finding the minimum d-separating set for two nodes in a dag. This set would represent the minimum information (in the sense of minimum number of variables) necessary to prevent these two nodes from influencing each other. The solution to this basic problem and some of its extensions can be useful in several ways, as we shall see later. Our solution is based on a two-step process: first, we reduce the original problem to the simpler one of finding a minimum separating set in an undirected graph, and second, we develop an algorithm for solving it.

Although probabilistic inference in a general Bayesian belief network is an NP-hard problem, computation time for inference can be reduced in most practical cases by exploiting domain knowledge and by making approximations in the knowledge representation. In this paper we introduce the property of similarity of states and a new method for approximate knowledge representation and inference which is based on this property. We define two or more states of a node to be similar when the ratio of their probabilities, the likelihood ratio, does not depend on the instantiations of the other nodes in the network. We show that the similarity of states exposes redundancies in the joint probability distribution which can be exploited to reduce the computation time of probabilistic inference in networks with multiple similar states, and that the computational complexity in the networks with exponentially many similar states might be polynomial. We demonstrate our ideas on the example of a BN2O network -- a two layer network often used in diagnostic problems -- by reducing it to a very close network with multiple similar states. We show that the answers to practical queries converge very fast to the answers obtained with the original network. The maximum error is as low as 5% for models that require only 10% of the computation time needed by the original BN2O model.

We study the stochastic multi-armed bandit problem when one knows the value $\mu^{(\star)}$ of an optimal arm, as a well as a positive lower bound on the smallest positive gap $\Delta$. We propose a new randomized policy that attains a regret {\em uniformly bounded over time} in this setting. We also prove several lower bounds, which show in particular that bounded regret is not possible if one only knows $\Delta$, and bounded regret of order $1/\Delta$ is not possible if one only knows $\mu^{(\star)}$