-- (c) Aditya Mahajan <aditya.mahajan@yale.edu> {- | This module implments an automated algortihm to simplify sequential teams. The simplification is based on conditional independences. Conditional independence is checked using the Bayes Ball algorithm <http://citeseer.ist.psu.edu/old/399661.html> -} module Data.Teams.Structure ( module Data.Teams.Graph -- * Determine conditional independence , observations , irrelevant , determined , effective -- * Structural results for teams , simplifyAt , simplifyOnce , simplify ) where import Data.Teams.Graph import qualified Data.Graph.Inductive as G import Data.List (intersect, (\\) ) import Debug.Trace {- The Bayes Ball algortihm keeps track of a state for each node. The state consists of a mark (indicating if it has been visited from top or bottom before), a schedule (indicating if it was scheduled to be visited from top or bottom), and a flag (indicating if it has been visited or not). -} -- | Mark data Mark = NotMarked | TopMarked | BottomMarked | BothMarked deriving (Eq, Ord, Show) -- | Change mark chMark :: Mark -> Mark -> Mark chMark NotMarked a = a chMark _ NotMarked = NotMarked chMark BothMarked _ = BothMarked chMark _ BothMarked = BothMarked chMark BottomMarked TopMarked = BothMarked chMark TopMarked BottomMarked = BothMarked chMark BottomMarked BottomMarked = BottomMarked chMark TopMarked TopMarked = TopMarked -- | Schedule data Schedule = NotScheduled | TopScheduled | BottomScheduled | BothScheduled deriving (Eq, Ord, Show) -- | Change schedule chSchedule :: Schedule -> Schedule -> Schedule chSchedule NotScheduled a = a chSchedule _ NotScheduled = NotScheduled chSchedule BothScheduled _ = BothScheduled chSchedule _ BothScheduled = BothScheduled chSchedule BottomScheduled TopScheduled = BothScheduled chSchedule TopScheduled BottomScheduled = BothScheduled chSchedule BottomScheduled BottomScheduled = BottomScheduled chSchedule TopScheduled TopScheduled = TopScheduled -- | Visit data Visit = Visited | NotVisited deriving (Eq, Ord, Show) -- | A marked node of a graph data Marked = VMarked Variable Mark Schedule Visit | FMarked Factor Mark Schedule Visit deriving (Eq, Ord, Show) -- | The mark of a marked node mark :: Marked -> Mark mark (VMarked _ m _ _) = m mark (FMarked _ m _ _) = m -- | The node label of the marked node node :: Marked -> Node node (VMarked a _ _ _) = Right a node (FMarked a _ _ _) = Left a -- | The scedule of a marked node schedule :: Marked -> Schedule schedule (VMarked _ _ s _) = s schedule (FMarked _ _ s _) = s -- | The visit status of a marked node visit :: Marked -> Visit visit (VMarked _ _ _ v) = v visit (FMarked _ _ _ v) = v -- | Add a mark to a marked node addMark :: Mark -> Marked -> Marked addMark n (VMarked a m s v) = VMarked a (chMark m n) s v addMark n (FMarked a m s v) = FMarked a (chMark m n) s v -- | Add a schedule to a marked node addSchedule :: Schedule -> Marked -> Marked addSchedule n (VMarked a m s v) = VMarked a m (chSchedule s n) v addSchedule n (FMarked a m s v) = FMarked a m (chSchedule s n) v -- | Add a visit to a marked node addVisit :: Marked -> Marked addVisit (VMarked a m s _) = VMarked a m s Visited addVisit (FMarked a m s _) = FMarked a m s Visited -- | Remove all flags from the marked node clean :: Marked -> Marked clean (VMarked a _ _ _) = VMarked a NotMarked NotScheduled NotVisited clean (FMarked a _ _ _) = FMarked a NotMarked NotScheduled NotVisited -- | Check if a marked node is marked on top isTopMarked :: Marked -> Bool isTopMarked n = let m = mark n in (m==TopMarked || m == BothMarked) -- | Check if a marked node is marked on bottom isBottomMarked :: Marked -> Bool isBottomMarked n = let m = mark n in (m==BottomMarked || m == BothMarked) -- | Check if a marked node is scheduled isScheduled :: Marked -> Bool isScheduled n = NotScheduled /= schedule n -- | Check if a marked node is visited isVisited :: Marked -> Bool isVisited n = Visited == visit n -- | A class to convert a normal graph to a marked graph class Initializable a where mkClean :: a -> Marked instance Initializable Variable where mkClean v@(Reward _) = VMarked v NotMarked NotScheduled NotVisited mkClean v@(NonReward _) = VMarked v NotMarked NotScheduled NotVisited instance Initializable Factor where mkClean f@(Dynamics _) = FMarked f NotMarked NotScheduled NotVisited mkClean f@(Control _) = FMarked f NotMarked NotScheduled NotVisited instance (Initializable a, Initializable b) => Initializable (Either a b) where mkClean (Left a) = mkClean a mkClean (Right a) = mkClean a -- | A marked gream type MTeam = G.Gr Marked EdgeType -- | All scheduled nodes scheduledNodes :: MTeam -> [G.Node] scheduledNodes = selNodes isScheduled -- | The Bayes Ball algorithm bayesBall :: Team -> [G.Node] -> [G.Node] -> MTeam bayesBall team condition reward = doBayesBall condition mteam where -- Initialize all nodes as neither marked, nor scheduled, nor visited -- Then schedule all reward nodes to be visited from bottom. mteam = G.gmap initialize . G.nmap mkClean $ team initialize (pre,idx,lab,suc) = (pre, idx, lab', suc) where lab' = if idx `elem` reward then addSchedule BottomScheduled lab else lab -- | The main loop of the Bayes Ball algorithm doBayesBall :: [G.Node] -> MTeam -> MTeam doBayesBall condition gr = case scheduledNodes gr of -- If there are no more scheduled nodes, then we are done. [] -> gr -- Otherwise we modify the graph and loop again (x:_) -> doBayesBall condition (modify gr) where modify | isFactor . node $ mLabel = modifyFactor | otherwise = modifyVariable where mLabel = label gr x mSchedule = schedule mLabel -- If we are a factor node, let the ball pass through -- Do not mark the node modifyFactor = case mSchedule of BottomScheduled -> markClean . bottomThrough TopScheduled -> markClean . topThrough BothScheduled -> markClean . bothThrough NotScheduled -> error ("Node " ++ show x ++ " not scheduled") -- If we are at a variable node, bounce the ball intelligently -- Then mark the nodes as visited and not scheduled. modifyVariable = case mSchedule of BottomScheduled -> markVisited . bottomVisit TopScheduled -> markVisited . topVisit BothScheduled -> markVisited . bothVisit NotScheduled -> error ("Node " ++ show x ++ " not scheduled") -- When the visit is from bottom, if the node is in the -- conditioning nodes, do nothing. Otherwise, if the bottom of the -- node is not marked, mark the bottom and schedule all of its -- parents (pass the ball). Further, if the node is not a -- deterministic node, mark its top and visit all its children -- (bounce the ball) bottomVisit | x `elem` condition = id | otherwise = checkAction . markBottom -- Check if a node is a deterministic node or not. checkAction | isDeterministic gr x = id | otherwise = markTop -- When the visit is from the top, is the node is in the -- conditioning node and its bottom is not marked, mark its bottom -- and schedule all of its parents to be visisted (bounce the -- ball). Otherwise, if the node is not in the conditioning nodes -- and its top is not marked, mark its top and schedule all of its -- children (pass the ball) topVisit | x `elem` condition = markBottom | otherwise = markTop -- When the visit is both from the top and bottom, combine the -- actions. bothVisit | x `elem` condition = markBottom | otherwise = markTop . markBottom -- To mark the top. If the top is not marked, mark the top and pass -- the ball throgh. Otherwise, swallow the ball. markTop g | not . isTopMarked . label g $ x = topThrough (markNode TopMarked x g) | otherwise = g -- To mark the bottom. If the bottom is not marked, mark the bottom -- and pass the ball throgh. Otherwise, swallow the ball. markBottom g | not . isBottomMarked . label g $ x = bottomThrough (markNode BottomMarked x g) | otherwise = g -- Passing the ball through topThrough g = scheduleNodes TopScheduled g (G.suc g x) bottomThrough g = scheduleNodes BottomScheduled g (G.pre g x) bothThrough = topThrough . bottomThrough -- Marking the node visited or clean markVisited{- g -} = visitNode x -- g markClean {- g -} = cleanNode x -- g -- | Check if a node is deterministic. Currently we simply check if its parent -- is a control node. isDeterministic :: MTeam -> G.Node -> Bool isDeterministic mteam x = case G.pre mteam x of [] -> True [y] -> isControl. node . label mteam $ y _ -> False -- | Modify a marked node modifyNode :: (a -> Marked -> Marked) -> a -> G.Node -> MTeam -> MTeam modifyNode f m x mteam = case G.match x mteam of (Nothing, _ ) -> error ("Cannot modify node " ++ show x ++ " : Not in graph") (Just (pre,idx,lab,suc), gr') -> (pre, idx, f m lab, suc) G.& gr' -- | Mark a node markNode :: Mark -> G.Node -> MTeam -> MTeam markNode = modifyNode addMark -- | Schedule a node scheduleNode :: Schedule -> G.Node -> MTeam -> MTeam scheduleNode = modifyNode addSchedule -- | Schedule a list of nodes scheduleNodes :: Schedule -> MTeam -> [G.Node] -> MTeam scheduleNodes = foldr . scheduleNode -- | Visit a node visitNode :: G.Node -> MTeam -> MTeam visitNode = modifyNode (\s -> addSchedule s . addVisit) NotScheduled -- | Clean a node of all marked cleanNode :: G.Node -> MTeam -> MTeam cleanNode = modifyNode (const clean) id -- | Filter out the result from the bayes ball algortihm result :: (Marked -> Bool) -> Team -> [G.Node] -> [G.Node] -> [G.Node] result p team condition = map fst . filter (p.snd) . G.labNodes . bayesBall team condition -- | Irrelevant nodes -- The nodes that have not been visited from their parents are irrelevant irrelevant :: Team -> [G.Node] -> [G.Node] -> [G.Node] irrelevant = result (and . sequence [not.isTopMarked, isVariable.node] ) -- | Requisite observations -- The observation nodes are thouse nodes in the condition that are marked as -- visited observations :: Team -> [G.Node] -> [G.Node] -> [G.Node] observations team condition reward = condition `intersect` result isVisited team condition reward -- | Functionally determined nodes -- Nodes that are irrelevant when we want to know about all variable nodes determined :: Team -> [G.Node] -> [G.Node] determined team var = irrelevant team var (variables team) -- | Effectively observed nodes -- All the ancestors of the reward nodes that are functionally determined by -- conditioned nodes. effective :: Team -> [G.Node] -> [G.Node] -> [G.Node] effective team conditioned reward = (determined team conditioned `intersect` ancestoral team reward) \\ conditioned -- | The graph restructuring algorithm of the paper. simplifyAt :: Team -> G.Node -> Team simplifyAt team control = G.insEdges insEdges . G.delEdges delEdges $ team where pa = parents team control ch = children team control ne = ch ++ pa de = descendants team control rd = futureNodes team isReward control ob = observations team ne rd \\ ch ef = effective team pa rd \\ de delEdges = map (\ a -> (a, control)) (pa \\ ob) insEdges = map (\ a -> (a, control, Influence)) (ef \\ de) -- | Simplify all nodes of the graph once simplifyOnce :: Team -> Team simplifyOnce team = foldr (flip simplifyAt) team (controls team) where -- | The graph simplification aglorithm of the paper -- I believe that this algorithm will always converge. So, I do not stop the -- loop after a finite number of iterations. If you find an example that does -- not converge, please let me know. simplify :: Team -> Team simplify team = untilEqual . zip stream $ [(1::Int)..] where stream = iterate simplifyOnce team untilEqual ((a,n):as@((b,_):_)) = trace ("Simplify : Iteration " ++ show n) $ if G.equal a b then a else untilEqual as untilEqual _ = error "Infinite stream ended. This should not happen"