def gaussian_tensordot(x, y, dims=0):
"""
Computes the integral over two gaussians:
`(x @ y)(a,c) = log(integral(exp(x(a,b) + y(b,c)), b))`,
where `x` is a gaussian over variables (a,b), `y` is a gaussian over variables
(b,c), (a,b,c) can each be sets of zero or more variables, and `dims` is the size of b.
:param x: a Gaussian instance
:param y: a Gaussian instance
:param dims: number of variables to contract
"""
assert isinstance(x, Gaussian)
assert isinstance(y, Gaussian)
na = x.dim() - dims
nb = dims
nc = y.dim() - dims
assert na >= 0
assert nb >= 0
assert nc >= 0
Paa, Pba, Pbb = (
x.precision[..., :na, :na],
x.precision[..., na:, :na],
x.precision[..., na:, na:],
)
Qbb, Qbc, Qcc = (
y.precision[..., :nb, :nb],
y.precision[..., :nb, nb:],
y.precision[..., nb:, nb:],
)
xa, xb = x.info_vec[..., :na], x.info_vec[..., na:] # x.precision @ x.mean
yb, yc = y.info_vec[..., :nb], y.info_vec[..., nb:] # y.precision @ y.mean
precision = pad(Paa, (0, nc, 0, nc)) + pad(Qcc, (na, 0, na, 0))
info_vec = pad(xa, (0, nc)) + pad(yc, (na, 0))
log_normalizer = x.log_normalizer + y.log_normalizer
if nb > 0:
B = pad(Pba, (0, nc)) + pad(Qbc, (na, 0))
b = xb + yb
# Pbb + Qbb needs to be positive definite, so that we can malginalize out `b` (to have a finite integral)
L = cholesky(Pbb + Qbb)
LinvB = triangular_solve(B, L, upper=False)
LinvBt = LinvB.transpose(-2, -1)
Linvb = triangular_solve(b.unsqueeze(-1), L, upper=False)
precision = precision - matmul(LinvBt, LinvB)
# NB: precision might not be invertible for getting mean = precision^-1 @ info_vec
if na + nc > 0:
info_vec = info_vec - matmul(LinvBt, Linvb).squeeze(-1)
logdet = torch.diagonal(L, dim1=-2, dim2=-1).log().sum(-1)
diff = (0.5 * nb * math.log(2 * math.pi) +
0.5 * Linvb.squeeze(-1).pow(2).sum(-1) - logdet)
log_normalizer = log_normalizer + diff
return Gaussian(log_normalizer, info_vec, precision)
def _matrix_and_gaussian_to_gaussian(matrix, y_gaussian):
P_yy = y_gaussian.precision
neg_P_xy = matmul(matrix, P_yy)
P_xy = -neg_P_xy
P_yx = P_xy.transpose(-1, -2)
P_xx = matmul(neg_P_xy, matrix.transpose(-1, -2))
precision = torch.cat([torch.cat([P_xx, P_xy], -1),
torch.cat([P_yx, P_yy], -1)], -2)
info_y = y_gaussian.info_vec
info_x = -matvecmul(matrix, info_y)
info_vec = torch.cat([info_x, info_y], -1)
log_normalizer = y_gaussian.log_normalizer
result = Gaussian(log_normalizer, info_vec, precision)
return result
def condition(self, value):
if value.size(-1) == self.loc.size(-1):
prec_sqrt = self.matrix / self.scale.unsqueeze(-2)
precision = matmul(prec_sqrt, prec_sqrt.transpose(-1, -2))
delta = (value - self.loc) / self.scale
info_vec = matvecmul(prec_sqrt, delta)
log_normalizer = (-0.5 * self.loc.size(-1) * math.log(2 * math.pi)
- 0.5 * delta.pow(2).sum(-1) - self.scale.log().sum(-1))
return Gaussian(log_normalizer, info_vec, precision)
else:
return self.to_gaussian().condition(value)
def marginalize(self, left=0, right=0):
"""
Marginalizing out variables on either side of the event dimension::
g.marginalize(left=n).event_logsumexp() = g.logsumexp()
g.marginalize(right=n).event_logsumexp() = g.logsumexp()
and for data ``x``:
g.condition(x).event_logsumexp()
= g.marginalize(left=g.dim() - x.size(-1)).log_density(x)
"""
if left == 0 and right == 0:
return self
if left > 0 and right > 0:
raise NotImplementedError
n = self.dim()
n_b = left + right
a = slice(left, n - right) # preserved
b = slice(None, left) if left else slice(n - right, None)
P_aa = self.precision[..., a, a]
P_ba = self.precision[..., b, a]
P_bb = self.precision[..., b, b]
P_b = cholesky(P_bb)
P_a = triangular_solve(P_ba, P_b, upper=False)
P_at = P_a.transpose(-1, -2)
precision = P_aa - matmul(P_at, P_a)
info_a = self.info_vec[..., a]
info_b = self.info_vec[..., b]
b_tmp = triangular_solve(info_b.unsqueeze(-1), P_b, upper=False)
info_vec = info_a - matmul(P_at, b_tmp).squeeze(-1)
log_normalizer = (self.log_normalizer +
0.5 * n_b * math.log(2 * math.pi) -
P_b.diagonal(dim1=-2, dim2=-1).log().sum(-1) +
0.5 * b_tmp.squeeze(-1).pow(2).sum(-1))
return Gaussian(log_normalizer, info_vec, precision)
