diff --git a/05_prob_prog_intro.Rmd b/05_prob_prog_intro.Rmd index 82a62fd7..7bfc1ffb 100644 --- a/05_prob_prog_intro.Rmd +++ b/05_prob_prog_intro.Rmd @@ -1,6 +1,6 @@ # Probabilistic programming -```{julia chap_05_libraries, cache = TRUE, echo=FALSE} +```{julia chap_05_libraries, cache = FALSE, echo=FALSE} cd("./05_prob_prog_intro/") import Pkg Pkg.activate(".") @@ -10,23 +10,32 @@ using InteractiveUtils using Plots ``` -In the previous chapters we introduced some of the basic mathematical tools we are going to make use of throughout the book. We talked about histograms, probability, probability distributions and the Bayesian way of thinking. +In the previous chapters we introduced some of the basic mathematical tools we are going to make +use of throughout the book. +We talked about histograms, probability, probability distributions and Bayes theorem. -We will start this chapter by discussing the fundamentals of another useful tool, that is, probabilistic programming, and more specifically, how to apply it using probabilistic programming languages or PPLs. -These are systems, usually embedded inside a programming language, that are designed for building and reasoning about Bayesian models. They offer scientists an easy way to define probability models and solving them automatically. +We will start this chapter by discussing the fundamentals of another useful tool, that is, +probabilistic programming, and more specifically, how to apply it using probabilistic programming +languages or PPLs. +These are systems, usually embedded inside a programming language, that are designed for building +and reasoning about Bayesian models. They offer anyone interested in using an Bayesian models an +easy way to define and solve them automatically. -In Julia, there are a few PPLs being developed, and we will be using one of them, Turing.jl. We will be focusing on some examples to explain the general approach when using this tools. +In Julia, there are a few PPLs being developed, and we will be using one of them, Turing.jl. We will +be focusing on some examples to explain the general approach when using these tools. ## Coin flipping example - Let's revisit the old example of flipping a coin, but from a Bayesian perspective, as a way to lay down some ideas. + Let's revisit the old example of flipping a coin, but from a Bayesian perspective, as a way to lay + down some ideas. So the problem goes like this: Suppose we flip a coin N times, and we ask ourselves some questions like: - Is getting heads as likely as getting tails? - Is our coin biased, preferring one output over the other? -To answer these questions we are going to build a simple model, with the help of Julia libraries that add PPL capabilities. +To answer these questions we are going to build a simple model, with the help of Julia libraries +that add PPL capabilities. First, lets import the libraries we will need ```{julia , results = FALSE} @@ -35,43 +44,72 @@ using StatsPlots using Turing ``` -Let's start thinking in a Bayesian way. The first thing we should ask ourselves is: Do we have any prior information about the problem? Since the plausibility of getting heads is formally a probability (let's call it $p$), we know it must lay between 0 and 1. -Do we know anything more? -Let's skip that question for the moment and suppose we don't know anything more about $p$. This total uncertainty is also some kind of information we can incorporate in our model. -How? -Because we can assign equal probability for each value of $p$ between 0 and 1, while assigning 0 probability for the remaining values. This just means we don't know anything and that every outcome is equally possible. Translating this into a probability distribution, it means that we are going to use a uniform prior distribution for $p$, and the domain of this function will be between 0 and 1. +Let's start thinking in a Bayesian way. The first thing we should ask ourselves is: Do we have +any prior information about the problem? Since the plausibility of getting heads is formally a +probability (let's call it $p$), we know it must lay between 0 and 1. Do we know anything else? Let's skip that question for the moment and suppose we don't know anything else about $p$. This complete uncertainty also constitutes information we can incorporate into our model. How so? -Because we can assign equal probability to each value of $p$ while assigning 0 probability to the remaining values. -This just means we don't know anything and that every outcome is equally likely. Translating this into a probability distribution, it means that we are going to use a uniform prior distribution for $p$, and the function domain will be all numbers between 0 and 1. +Because we can assign equal probability to each value of $p$ while assigning 0 probability to the +remaining values. +This just means we don't know anything and that every outcome is equally likely. Translating this +into a probability distribution, it means that we are going to use a uniform prior distribution +for $p$, and the function domain will be all numbers between 0 and 1. ```{julia chap_05_plot_1} -p_prior_values = rand(Uniform(0, 1), 10000); -histogram(p_prior_values, normalized=true, bins=10, xlabel="Probability", ylabel="p", legend=false, alpha=0.6, color="red", size=(600, 350)) +plot(Uniform(0,1), normalized=true, bins=10, xlabel="x", ylabel="Probability density", legend=false, alpha=0.6, color="red", size=(600, 350), ylim=(0, 1.5)) ``` So how do we model the outcomes of flipping a coin? -Well, if we search for some similar type of experiment, we find that all processes in which we have two possible outcomes –heads or tails in our case–, and some probability $p$ of success –probability of heads–, these are called Bernoulli trials. The experiment of performing a number $N$ of Bernoulli trials, gives us the so called binomial distribution. For a fixed value of $N$ and $p$, the Bernoulli distribution gives us the probability of obtaining different number of heads (and tails too, if we know the total number of trials and the number of times we got heads, we know that the remaining number of times we got tails). Here, $N$ and $p$ are the parameters of our distribution. +## Modelling and performing probabilistic experiments -```{julia , results = FALSE} -N = 90 -p = 0.3 -``` +If we search for some similar type of experiment, we find that all processes in which we have +two possible outcomes –heads or tails in our case–, and some probability $p$ of success –probability +of heads–, these are called Bernoulli trials. The experiment of performing a number $N$ of Bernoulli +trials, gives us the so called binomial distribution. For a fixed value of $N$ and $p$, the Bernoulli +distribution gives us the probability of obtaining a different number of heads (and tails too, if we +know the total number of trials and the number of times we got heads, we know the remaining number +of times we got tails). Here, $N$ and $p$ are the parameters of our distribution. ```{julia chap_05_plot_2} -bar(Binomial(N,p), xlim=(0, 90), label=false, xlabel="Succeses", ylabel="Probability", title="Binomial distribution", color="green", alpha=0.8, size=(600, 350)) -``` +N = 90; +p = 0.3; -So, as we said, we are going to assume that our data (the count number of heads) is generated by a binomial distribution. Here, $N$ will be something we know. We control how we are going to make our experiment, and because of this, we fix this parameter. The question now is: what happens with $p$? Well, this is actually what we want to estimate! The only thing we know until now is that it is some value from 0 to 1, and every value in that range is equally likely to apply. - -When we perform our experiment, the outcomes will be registered and in conjunction with the Bernoulli distribution we proposed as a generator of our data, we will get our Likelihood function. This function just tells us, given some chosen value of $p$, how likely it is that our data is generated by the Bernoulli distribution with that value of $p$. How do we choose $p$? Well, actually we don't. You just let randomness make it's choice. But there exist multiple types of randomness, and this is where our prior distribution makes its play. We let her make the decision, depending on it's particular randomness flavor. Computing the value of this likelihood function for a big number of $p$ samples taken from our prior distribution, gives us the posterior distribution of $p$ given our data. This is called sampling, and it is a very important concept in Bayesian statistics and probabilistic programming, as it is one of the fundamental tools that makes all the magic under the hood. It is the method that actually lets us update our beliefs. The general family of algorithms that follow the steps we have mentioned are named Markov chain Monte Carlo (MCMC) algorithms. The computing complexity of these algorithms can get very high as the complexity of the model increases, so there is a lot of research being done to find intelligent ways of sampling to compute posterior distributions in a more efficient manner. +plot(Binomial(N,p), xlim=(0, 90), label=false, xlabel="Succeses probability", ylabel="Probability density", title="Binomial distribution", color="green", alpha=0.8, size=(600, 350)) +``` -The model coinflip is shown below. It is implemented using the Turing.jl library, which will be handling all the details about the relationship between the variables of our model, our data and the sampling and computing. To define a model we use the macro `@model` previous to a function definition as we have already done. The argument that this function will recieve is the data from our experiment. Inside this function, we must write the explicit relationship of all the variables involved in a logical way. -Stochastic variables –variables that are obtained randomly, following a probability distribution–, are defined with a '~' symbol, while deterministic variables –variables that are defined deterministically by other variables–, are defined with a '=' symbol. +So, as we said, we are going to assume that our data (the count number of heads) is generated by a +binomial distribution. Here, $N$ will be something we know. We control how we are going to make our +experiment, and because of this, we fix this parameter. The question now is: what happens with $p$? +Well, this is actually what we want to estimate! The only thing we know until now is that it is some +value from 0 to 1, and every value in that range is equally likely to apply. + +With the outcomes of our experiment and the Bernoulli distribution we proposed as their generator, +we get our Likelihood function. +This function just tells us how likely it is that our data follows the Bernoulli distribution given +some chosen value of $p$. + +How do we compute $p$? There are many methods from pen and paper to many different numerical methods. +But probably the most common way is to use a Markov chain Monte Carlo (MCMC) algorithm. This is +actually a family of methods, most PPLs implement at least one of those. The important practical +aspect we need to know at this point is that these methods return samples from the posterior +distribution, and we get to answer our questions by operating over those samples. +The computing complexity of these algorithms can get very high as the complexity of the model +increases, so there is a lot of research being done to find clever ways of sampling to compute +posterior distributions more efficiently. + +The *coinflip* model is shown below. It is implemented using the Turing.jl library, which will be +handling all the details about the relationship between the variables of our model, our data and +the sampling and computing. To define a model we use the macro `@model` previous to a function +definition as we have already done. The argument that this function will receive is the data from +our experiment. Inside this function, we must write the explicit relationship of all the variables +involved in a logical way. +Stochastic variables –variables that are obtained randomly, following a probability distribution–, +are defined with a '~' symbol, while deterministic variables –variables that are defined +deterministically by other variables–, are defined with a '=' symbol. ```{julia, results = FALSE} @model coinflip(y) = begin @@ -87,8 +125,11 @@ Stochastic variables –variables that are obtained randomly, following a probab end ``` -coinflip receives the N outcomes of our flips, an array of length N with 0 or 1 values, 0 values indicating tails and 1 indicating heads. -The idea is that with each new value of outcome, the model will be updating its beliefs about the parameter $p$ and this is what the for loop is doing: we are saying that each outcome comes from a Bernoulli distribution with a parameter $p$, a success probability, shared for all the outcomes. +coinflip receives the N outcomes of our flips, an array of length N with 0 or 1 values, 0 values +indicating tails and 1 indicating heads. +The idea is that with each new value of outcome, the model will be updating its beliefs about the +parameter $p$ and this is what the for loop is doing: we are saying that each outcome comes from a +Bernoulli distribution with a parameter $p$, a success probability, shared for all the outcomes. Suppose we have run the experiment 10 times and had the outcomes: @@ -98,7 +139,9 @@ outcome = [0, 1, 1, 0, 1, 0, 0, 1, 1, 1] So, we got 6 heads and 4 tails. -Now, we are going to see now how the model, for our unknown parameter $p$, is updated. We will start by giving only just one input value to the model, adding one input at a time. Finally, we will give the model all outcomes values as input. +Now, we are going to see now how the model, for our unknown parameter $p$, is updated. We will start +by giving only just one input value to the model, adding one input at a time. Finally, we will give +the model all outcomes values as input. ```{julia chap_05_cache_1, results = FALSE, CACHE = TRUE} # Settings of the Hamiltonian Monte Carlo (HMC) sampler. @@ -110,40 +153,50 @@ iterations = 1000 chain = sample(coinflip(outcome[1]), HMC(ϵ, τ), iterations, progress=false) ``` -So now we plot below the posterior distribution of $p$ after our model updated, seeing just the first outcome, a 0 value or a tail. +So now we plot below the posterior distribution of $p$ after our model updated, seeing just the +first outcome, a 0 value or a tail. How this single outcome affected our beliefs about $p$? -We can see in the plot below, showing the posterior or updated distribution of $p$, that the values of $p$ near to 0 have more probability than before, recalling that all values had the same probability, which makes sense if all our model has seen is a failure, so it lowers the probability for values of $p$ that suggest high rates of success. +We can see in the plot below, showing the posterior or updated distribution of $p$, that the values +of $p$ near to 0 have more probability than before, recalling that all values had the same +probability, which makes sense if all our model has seen is a failure, so it lowers the probability +for values of $p$ that suggest high rates of success. ```{julia chap_05_plot_3} -histogram(chain[:p], legend=false, xlabel="p", ylabel="Probability", title="Posterior distribution of p after getting tails", size=(600, 350), alpha=0.7) +histogram(chain[:p], legend=false, xlabel="p", ylabel="Probability density", title="Posterior distribution of p after getting tails", size=(600, 350), alpha=0.7) ``` -Let's continue now including the remaining outcomes and see how the model is updated. We have plotted below the posterior probability of $p$ adding outcomes to our model updating its beliefs. +Let's continue now including the remaining outcomes and see how the model is updated. We have +plotted below the posterior probability of $p$ adding outcomes to our model updating its beliefs. ```{julia chap_05_cache_2, results = FALSE, CACHE = TRUE} samples = [] for i in 2:10 - global chain_ - chain_ = sample(coinflip(outcome[1:i]), HMC(ϵ, τ), iterations, progress=false) - push!(samples, chain_[:p]) + chain = sample(coinflip(outcome[1:i]), HMC(ϵ, τ), iterations, progress=false) + push!(samples, chain[:p]) end ``` ```{julia chap_05_plot_4} -plots = [histogram(samples[i], normalized=true, legend=false, bins=10, title="$(i+1) outcomes", titlefont = font(8)) for i in 1:9]; -plot(plots...) +plots_uniform = [histogram(samples[i], normalized=true, legend=false, bins=10, title="$(i+1) outcomes", titlefont = font(8)) for i in 1:9]; +plot(plots_uniform...) ``` - We see that with each new value the model believes more and more that the value of $p$ is far from 0 or 1, because if it was the case we would have only heads or tails. The model prefers values of $p$ in between, being the values near 0.5 more plausible with each update. +We see that with each new value the model believes more and more that the value of $p$ is far from +0 or 1, because if it was the case we would have only heads or tails. The model prefers values of $p$ +in between, being the values near 0.5 more plausible with each update. What if we wanted to include more previous knowledge about the success rate $p$? -Let's say we know that the value of $p$ is near 0.5 but we are not so sure about the exact value, and we want the model to find the plausibility for the values of $p$. Then including this knowledge, our prior distribution for $p$ will have higher probability for values near 0.5, and low probability for values near 0 or 1. -Searching again in our repertoire of distributions, one that fulfills our wishes is a beta distribution with parameters α=2 and β=2. It is plotted below. +Let's say we know that the value of $p$ is near 0.5 but we are not so sure about the exact value, +and we want the model to find the plausibility for the values of $p$. Then including this knowledge, +our prior distribution for $p$ will have higher probability for values near 0.5, and low +probability for values near 0 or 1. +Searching again in our repertoire of distributions, one that fulfills our wishes is a beta +distribution with parameters α=2 and β=2. It is plotted below. ```{julia chap_05_plot_5} -plot(Beta(2,2), legend=false, xlabel="p", ylabel="Probability", title="Prior distribution for p", fill=(0, .5,:dodgerblue), ylim=(0,2), size=(600, 350)) +plot(Beta(2,2), legend=false, xlabel="p", ylabel="Probability density", title="Prior distribution for p", fill=(0, .5,:dodgerblue), ylim=(0,2), size=(600, 350)) ``` Now we define again our model just changing the distribution for $p$, as shown: @@ -163,44 +216,100 @@ Now we define again our model just changing the distribution for $p$, as shown: end ``` -Running the new model and plotting the posterior distributions, again adding one observation at a time, we see that with less examples we have a better approximation of $p$. +Running the new model and plotting the posterior distributions, again adding one observation at a +time, we see that with less examples we have a better approximation of $p$. ```{julia chap_05_cache_3, results = FALSE, CACHE = TRUE} samples_beta_prior = [] for i in 2:10 - global chain__ - chain__ = sample(coinflip_beta_prior(outcome[1:i]), HMC(ϵ, τ), iterations, progress=false) - push!(samples_beta_prior, chain__[:p]) + chain = sample(coinflip_beta_prior(outcome[1:i]), HMC(ϵ, τ), iterations, progress=false) + push!(samples_beta_prior, chain[:p]) end ``` ```{julia chap_05_plot_6} -plots = [histogram(samples_beta_prior[i], normalized=true, legend=false, bins=10, title="$(i+1) outcomes", titlefont = font(10), color="red", alpha=0.6) for i in 1:9]; +plots_beta = [histogram(samples_beta_prior[i], normalized=true, legend=false, bins=10, title="$(i+1) outcomes", titlefont = font(10), color="red", alpha=0.6) for i in 1:9]; ``` -To illustrate the affirmation made before, we can compare for example the posterior distributions obtained only with the first 4 outcomes for both models, the one with a uniform prior and the other with the beta prior. The plots are shown below. We see that some values near 0 and 1 have still high probability for the model with a uniform prior for p, while in the model with a beta prior the values near 0.5 have higher probability. That's because if we tell the model from the beginning that $p$ near 0 and 1 have less probability, it catches up faster that probabilities near 0.5 are higher. +To illustrate the affirmation made before, we can compare for example the posterior distributions +obtained only with the first 4 outcomes for both models, the one with a uniform prior and the other +with the beta prior. The plots are shown below. We see that some values near 0 and 1 still +have high probability for the model with a uniform prior for p, while in the model with a beta prior +the values near 0.5 have higher probability. That's because if we tell the model from the beginning +that $p$ near 0 and 1 have less probability, it catches up faster that probabilities near 0.5 are +higher. ```{julia chap_05_plot_7} -plot(plots[3], plots_[3], title = ["Posterior for uniform prior and 4 outcomes" "Posterior for beta prior and 4 outcomes"], titleloc = :center, titlefont = font(8), layout=2, size=(450, 300)) +plot(plots_uniform[3], plots_beta[3], title = ["Posterior for uniform prior and 4 outcomes" "Posterior for beta prior and 4 outcomes"], titleloc = :center, titlefont = font(8), layout=2, size=(450, 300)) ``` -So in this case, incorporating our beliefs in the prior distribution we saw the model reached faster the more plausible values for $p$, needing less outcomes to reach a very similar posterior distribution. -When we used a uniform prior, we were conservative, meaning that we said we didn't know anything about $p$ so we assign equal probability for all values. -Sometimes this kind of distribution (uniform distributions), called a non-informative prior, can be too conservative, being in some cases not helpful at all. -They even can slow the convergence of the model to the more plausible values for our posterior, as shown. +So in this case, incorporating our beliefs in the prior distribution we saw the model reached +faster the more plausible values for $p$, needing less outcomes to reach a very similar posterior +distribution. +When we used a uniform prior, we were conservative, meaning that we said we didn't know anything +about $p$ so we assign equal probability for all values. +Sometimes this kind of distribution (uniform distributions), called a non-informative prior, can +be too conservative, being in some cases not helpful at all. +They even can slow the convergence of the model to the more plausible values for our posterior, +as shown. ## Summary -In this chapter, we gave an introduction to probabilistic programming languages and explored the classic coin flipping example in a Bayesian way. +In this chapter, we gave an introduction to probabilistic programming languages and explored the +classic coin flipping example in a Bayesian way. -First, we saw that in this kind of Bernoulli trial scenario, where the experiment has two possible outcomes 0 or 1, it is a good idea to set our likelihood to a binomial distribution. +First, we saw that in this kind of Bernoulli trial scenario, where the experiment has two possible +outcomes 0 or 1, it is a good idea to set our likelihood to a binomial distribution. We also learned what sampling is and saw why we use it to update our beliefs. -Then we used the Julia library Turing.jl to create a probabilistic model, setting our prior probability to a uniform distribution and the likelihood to a binomial one. -We sampled our model with the Markov chain Monte Carlo algorithm and saw how the posterior probability was updated every time we input a new coin flip result. +Then we used the Julia library Turing.jl to create a probabilistic model, setting our prior +probability to a uniform distribution and the likelihood to a binomial one. +We sampled our model with the Markov Chain Monte Carlo algorithm and saw how the posterior +probability was updated every time we input a new coin flip result. -Finally, we created a new model with the prior probability set to a normal distribution centered on $p$ = 0.5 which gave us more accurate results. +Finally, we created a new model with the prior probability set to a normal distribution centered +on $p$ = 0.5 which gave us more accurate results. ## References * [Turing.jl website](https://turing.ml/dev/) * [Not a monad tutorial article about Soss.jl](https://notamonadtutorial.com/soss-probabilistic-programming-with-julia-6acc5add5549) +* [Bayesian methods for Hackers - Chapter 3](https://nbviewer.org/github/CamDavidsonPilon/Probabilistic-Programming-and-Bayesian-Methods-for-Hackers/blob/master/Chapter3_MCMC/Ch3_IntroMCMC_PyMC3.ipynb) +* Statistical Rethinking + +## Appendix - MCMC + +Markov Chain Monte Carlo or MCMC, are a family of algorithms designed to sample from a +probability distribution. In the context of Bayesian statistics, we are particularly interested in +sampling from the posterior distribution to estimate it. +This methods are useful since assumptions or approximations about the shape of the posterior are not +needed. This comes with a cost, though. As they rely on the generation of random samples, we usually +need to iterate over many steps to have a good enough estimation, and this translates to more time and +computation needed. + +To understand a little better what MCMC is about, let's break the name down. + +**Monte Carlo**: Refers to methods that rely on a repeated generation of random numbers to solve a +numerical problem. In the probability domain, they are used to estimate the outcomes of an uncertain +event. + +**Markov Chain**: In simple terms, it can be thought as a sequence or *chain* of possible events, +where the probability of some particular event ocurring depends only on the outcome state of the +previous event. + +These two concepts are combined to generate a variety of methods which aim to estimate complicated +probability distributions by sampling from them it an intelligent way. + +On a high level, these algorithms have two main *forces* that work simultaneously when sampling values +from the posterior's parameter space: +1. A force that for each sampled value, tries to find another one from the region nearby with high probability density +– This way, we make sure we are not wasting samples exploring regions with very low probability. +2. A force that for each value sampled, tries to counter force (1) - Thus enabling the algorithm to explore +new regions of parameter space. + +With the right balance of the two, a good estimation of the posterior distribution can be obtained in +reasonable time in contrast to a brute-force approach. + +> It appears to be a quite general principle that, whenever there is a randomized way +> of doing something, then there is a nonrandomized way that delivers better performance +> but requires more thought. +> —E. T. 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a/docs/404.html b/docs/404.html index 3850d081..fd5be13f 100644 --- a/docs/404.html +++ b/docs/404.html @@ -1,25 +1,24 @@ -
The page you requested cannot be found (perhaps it was moved or renamed).
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