Labelled Markov Processes - cs.cornell.edu

99
Introduction Labelled Markov Processes A tutorial overview Prakash Panangaden School of Computer Science McGill University 12 th June 2014, Cornell University Panangaden (McGill) Labelled Markov Processes MFPS XXX 1 / 41

Transcript of Labelled Markov Processes - cs.cornell.edu

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Introduction

Labelled Markov ProcessesA tutorial overview

Prakash Panangaden

School of Computer ScienceMcGill University

12th June 2014, Cornell University

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Introduction

Collaborators

Josée Desharnais

Radha Jagadeesan and Vineet GuptaAbbas EdalatPhilippe Chaput, Vincent Danos, Gordon PlotkinFrano̧is LavioletteNorm Ferns, Doina Precup, Gheorghe ComaniciDexter Kozen, Kim Larsen, Radu Mardare

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Introduction

Collaborators

Josée DesharnaisRadha Jagadeesan and Vineet Gupta

Abbas EdalatPhilippe Chaput, Vincent Danos, Gordon PlotkinFrano̧is LavioletteNorm Ferns, Doina Precup, Gheorghe ComaniciDexter Kozen, Kim Larsen, Radu Mardare

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Introduction

Collaborators

Josée DesharnaisRadha Jagadeesan and Vineet GuptaAbbas Edalat

Philippe Chaput, Vincent Danos, Gordon PlotkinFrano̧is LavioletteNorm Ferns, Doina Precup, Gheorghe ComaniciDexter Kozen, Kim Larsen, Radu Mardare

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Introduction

Collaborators

Josée DesharnaisRadha Jagadeesan and Vineet GuptaAbbas EdalatPhilippe Chaput, Vincent Danos, Gordon Plotkin

Frano̧is LavioletteNorm Ferns, Doina Precup, Gheorghe ComaniciDexter Kozen, Kim Larsen, Radu Mardare

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Introduction

Collaborators

Josée DesharnaisRadha Jagadeesan and Vineet GuptaAbbas EdalatPhilippe Chaput, Vincent Danos, Gordon PlotkinFrano̧is Laviolette

Norm Ferns, Doina Precup, Gheorghe ComaniciDexter Kozen, Kim Larsen, Radu Mardare

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Introduction

Collaborators

Josée DesharnaisRadha Jagadeesan and Vineet GuptaAbbas EdalatPhilippe Chaput, Vincent Danos, Gordon PlotkinFrano̧is LavioletteNorm Ferns, Doina Precup, Gheorghe Comanici

Dexter Kozen, Kim Larsen, Radu Mardare

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Introduction

Collaborators

Josée DesharnaisRadha Jagadeesan and Vineet GuptaAbbas EdalatPhilippe Chaput, Vincent Danos, Gordon PlotkinFrano̧is LavioletteNorm Ferns, Doina Precup, Gheorghe ComaniciDexter Kozen, Kim Larsen, Radu Mardare

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Introduction

Summary of Results

Probabilistic bisimulation can be defined for continuousstate-space systems. [LICS97]Logical characterization. [LICS98,Info and Comp 2002]Metrics. [CONCUR99, TCS2004, UAI 2004, UAI 2005, SIAM J.Comp. 2011, QEST 2012]Approximation of LMPs. [LICS00,Info and Comp 2003, QEST2005]Weak bisimulation. [LICS02,CONCUR02]Real time. [QEST 2004, JLAP 2003, LMCS 2006]Event bisimulation [CMCS 2004, Info and Comp 2006]Duality [LICS 2013, MFCS 2013, MFPS 2014]Approximation by averaging [CONCUR 2003, ICALP 2009, JACM2014]Logic and approximation [MFCS 2012]

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Discrete probabilistic transition systems

Definition

Just like a labelled transition system with probabilities associatedwith the transitions.

(S,L,∀a ∈ L Ta : S× S −→ [0, 1])

The model is reactive: All probabilistic data is internal - noprobabilities associated with environment behaviour.

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Discrete probabilistic transition systems

Definition

Just like a labelled transition system with probabilities associatedwith the transitions.

(S,L, ∀a ∈ L Ta : S× S −→ [0, 1])

The model is reactive: All probabilistic data is internal - noprobabilities associated with environment behaviour.

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Discrete probabilistic transition systems

Definition

Just like a labelled transition system with probabilities associatedwith the transitions.

(S,L, ∀a ∈ L Ta : S× S −→ [0, 1])

The model is reactive: All probabilistic data is internal - noprobabilities associated with environment behaviour.

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Discrete probabilistic transition systems

Examples of PTSs

s0a[ 1

4 ]

��

a[ 34 ]

��s1 s2

a[1]��

s3

s0a[1]

��

b[1]

��s1

c[ 12 ]

��

c[ 12 ]

&&

s2

a[1]��

s4 s3A1 A2

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Discrete probabilistic transition systems

Bisimulation for PTS: Larsen and Skou

Consider

t0a[ 1

3 ]

��

a[ 23 ]

��t1 t2

b[1]��

t3

s0a[ 1

3 ]

��a[ 1

3 ]

��

a[ 13 ]

��s1 s2

b[1]��

s3

b[1]��s4

P1 P2

Should s0 and t0 be bisimilar?

Yes, but we need to add the probabilities.

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Discrete probabilistic transition systems

Bisimulation for PTS: Larsen and Skou

Consider

t0a[ 1

3 ]

��

a[ 23 ]

��t1 t2

b[1]��

t3

s0a[ 1

3 ]

��a[ 1

3 ]

��

a[ 13 ]

��s1 s2

b[1]��

s3

b[1]��s4

P1 P2

Should s0 and t0 be bisimilar?Yes, but we need to add the probabilities.

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Discrete probabilistic transition systems

The Official Definition

Let S = (S,L,Ta) be a PTS. An equivalence relation R on S is abisimulation if whenever sRs′, with s, s′ ∈ S, we have that for alla ∈ A and every R-equivalence class, A, Ta(s,A) = Ta(s′,A).The notation Ta(s,A) means “the probability of starting from s andjumping to a state in the set A.”Two states are bisimilar if there is some bisimulation relation Rrelating them.

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Labelled Markov processes

What are labelled Markov processes?

Labelled Markov processes are probabilistic versions of labelledtransition systems. Labelled transition systems where the finalstate is governed by a probability distribution - no otherindeterminacy.

All probabilistic data is internal - no probabilities associated withenvironment behaviour.We observe the interactions - not the internal states.In general, the state space of a labelled Markov process maybe a continuum.

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Labelled Markov processes

What are labelled Markov processes?

Labelled Markov processes are probabilistic versions of labelledtransition systems. Labelled transition systems where the finalstate is governed by a probability distribution - no otherindeterminacy.All probabilistic data is internal - no probabilities associated withenvironment behaviour.

We observe the interactions - not the internal states.In general, the state space of a labelled Markov process maybe a continuum.

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Labelled Markov processes

What are labelled Markov processes?

Labelled Markov processes are probabilistic versions of labelledtransition systems. Labelled transition systems where the finalstate is governed by a probability distribution - no otherindeterminacy.All probabilistic data is internal - no probabilities associated withenvironment behaviour.We observe the interactions - not the internal states.

In general, the state space of a labelled Markov process maybe a continuum.

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Labelled Markov processes

What are labelled Markov processes?

Labelled Markov processes are probabilistic versions of labelledtransition systems. Labelled transition systems where the finalstate is governed by a probability distribution - no otherindeterminacy.All probabilistic data is internal - no probabilities associated withenvironment behaviour.We observe the interactions - not the internal states.In general, the state space of a labelled Markov process maybe a continuum.

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Labelled Markov processes

Motivation

Model and reason about systems with continuous state spaces orcontinuous time evolution or both.

hybrid control systems; e.g. flight management systems.telecommunication systems with spatial variation; e.g. cell phonesperformance modelling,continuous time systems,probabilistic process algebra with recursion.

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Labelled Markov processes

An Example of a Continuous-State System

���������CCCCCCCCO

@@@I

a - turn left

b - turn right

c - straight

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Labelled Markov processes

Actions

a - turn left, b - turn right, c - keep on courseThe actions move the craft sideways with some probability distributionson how far it moves. The craft may “drift” even with c. The action a (b)must be disabled when the craft is too near the left (right) boundary.

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Labelled Markov processes

Schematic of Example

L

a,c !! a,c-- M

a,b,c==b,c

mma,c

-- R

b,c}}

b,cmm

This picture is misleading: unless very special conditions hold theprocess cannot be compressed into an equivalent (?) finite-statemodel. In general, the transition probabilities should depend onthe position.

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Labelled Markov processes

Stochastic Kernels

A stochastic kernel (Markov kernel) is a function h : S× Σ −→ [0, 1]with (a) h(s, ·) : Σ −→ [0, 1] a (sub)probability measure and (b)h(·,A) : X −→ [0, 1] a measurable function.

Though apparantly asymmetric, these are the stochasticanalogues of binary relationsand the uncountable generalization of a matrix.

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Labelled Markov processes

Stochastic Kernels

A stochastic kernel (Markov kernel) is a function h : S× Σ −→ [0, 1]with (a) h(s, ·) : Σ −→ [0, 1] a (sub)probability measure and (b)h(·,A) : X −→ [0, 1] a measurable function.Though apparantly asymmetric, these are the stochasticanalogues of binary relations

and the uncountable generalization of a matrix.

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Labelled Markov processes

Stochastic Kernels

A stochastic kernel (Markov kernel) is a function h : S× Σ −→ [0, 1]with (a) h(s, ·) : Σ −→ [0, 1] a (sub)probability measure and (b)h(·,A) : X −→ [0, 1] a measurable function.Though apparantly asymmetric, these are the stochasticanalogues of binary relationsand the uncountable generalization of a matrix.

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Labelled Markov processes

Formal Definition of LMPs

An LMP is a tuple (S,Σ,L,∀α ∈ L.τα) where τα : S×Σ −→ [0, 1] is atransition probability function such that∀s : S.λA : Σ.τα(s,A) is a subprobability measureand∀A : Σ.λs : S.τα(s,A) is a measurable function.

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Labelled Markov processes

Example of LMP

initial state

[0, 1)

a[U(1,2)4 ]

zz

a[x4

U(2, 3)]

$$

a[ x+U(0,1)4 ]

��

a[1−x4 ]

��(1, 2]

a

��

1a[U(2,3)

4 ]

//

a[U(1,2)4 ]

oo

a[1+U(0,1)4 ]

LL

(2, 3]

β

��s t

For x ∈ [0, 1), τa(x, [2.1, 2.4]) = x4 0.3

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Labelled Markov processes

Larsen-Skou Bisimulation

Let S = (S, i,Σ, τ) be a labelled Markov process. An equivalencerelation R on S is a bisimulation if whenever sRs′, with s, s′ ∈ S, wehave that for all a ∈ A and every R-closed measurable set A ∈ Σ,τa(s,A) = τa(s′,A).Two states are bisimilar if they are related by a bisimulationrelation.Can be extended to bisimulation between two different LMPs.

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Labelled Markov processes

Larsen-Skou Bisimulation - Example

sα .3

��a .3

��

a .3

��4

α

��b .4

��

b .1

��

• •

• ?

b

NN ?b

oo

tα .3

��

a .6

��4

a��

b .5

��

• ?

b��?

b

NN

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Labelled Markov processes

Logical Characterization

L ::== T|φ1 ∧ φ2|〈a〉qφ

We say s |= 〈a〉qφ iff

∃A ∈ Σ.(∀s′ ∈ A.s′ |= φ) ∧ (τa(s,A) > q).

Two systems are bisimilar iff they obey the same formulas of L.[DEP 1998 LICS, I and C 2002]

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Labelled Markov processes

Logical Characterization

L ::== T|φ1 ∧ φ2|〈a〉qφ

We say s |= 〈a〉qφ iff

∃A ∈ Σ.(∀s′ ∈ A.s′ |= φ) ∧ (τa(s,A) > q).

Two systems are bisimilar iff they obey the same formulas of L.[DEP 1998 LICS, I and C 2002]

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Labelled Markov processes

Event bisimulation

In measure theory one should focus on measurable sets ratherthan on points.

Vincent Danos proposed the idea of event bisimulation, which wasdeveloped by him and Desharnais, Laviolette and P.

Event BisimulationGiven a LMP (X,Σ, τa), an event-bisimulation is a sub-σ-algebra Λ ofΣ such that (X,Λ, τa) is still an LMP.

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Labelled Markov processes

Event bisimulation

In measure theory one should focus on measurable sets ratherthan on points.Vincent Danos proposed the idea of event bisimulation, which wasdeveloped by him and Desharnais, Laviolette and P.

Event BisimulationGiven a LMP (X,Σ, τa), an event-bisimulation is a sub-σ-algebra Λ ofΣ such that (X,Λ, τa) is still an LMP.

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Labelled Markov processes

Event bisimulation

In measure theory one should focus on measurable sets ratherthan on points.Vincent Danos proposed the idea of event bisimulation, which wasdeveloped by him and Desharnais, Laviolette and P.

Event BisimulationGiven a LMP (X,Σ, τa), an event-bisimulation is a sub-σ-algebra Λ ofΣ such that (X,Λ, τa) is still an LMP.

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Metrics

Process Equivalence is Fundamental

Markov chains:LumpabilityLabelled Markov processes: BisimulationMarkov decision processes: BisimulationLabelled Concurrent Markov Chains with τ transitions: WeakBisimulation

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Metrics

But...

In the context of probability is exact equivalence reasonable?

We say “no”. A small change in the probability distributions mayresult in bisimilar processes no longer being bisimilar though theymay be very “close” in behaviour.Instead one should have a (pseudo)metric for probabilisticprocesses.

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Metrics

But...

In the context of probability is exact equivalence reasonable?We say “no”. A small change in the probability distributions mayresult in bisimilar processes no longer being bisimilar though theymay be very “close” in behaviour.

Instead one should have a (pseudo)metric for probabilisticprocesses.

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Metrics

But...

In the context of probability is exact equivalence reasonable?We say “no”. A small change in the probability distributions mayresult in bisimilar processes no longer being bisimilar though theymay be very “close” in behaviour.Instead one should have a (pseudo)metric for probabilisticprocesses.

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Metrics

A metric-based approximate viewpoint

Move from equality between processes to distances betweenprocesses (Jou and Smolka 1990).

Formalize distance as a metric:

d(s, s) = 0, d(s, t) = d(t, s), d(s, u) ≤ d(s, t) + d(t, u).

Quantitative analogue of an equivalence relation.

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Metrics

A metric-based approximate viewpoint

Move from equality between processes to distances betweenprocesses (Jou and Smolka 1990).Formalize distance as a metric:

d(s, s) = 0, d(s, t) = d(t, s), d(s, u) ≤ d(s, t) + d(t, u).

Quantitative analogue of an equivalence relation.

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Metrics

Summary of results

Establishing closeness of states: Coinduction

Distinguishing states: Real-valued modal logicsEquational and logical views coincide: Metrics yield samedistances as real-valued modal logicsCompositional reasoning by Non-Expansivity.Process-combinators take nearby processes to nearby processes.

d(s1, t1) < ε1, d(s2, t2) < ε2

d(s1 || s2, t1 ||t2) < ε1 + ε2

Results work for Markov chains, Labelled Markov processes,Markov decision processes and Labelled Concurrent Markovchains with τ -transitions.

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Metrics

Summary of results

Establishing closeness of states: CoinductionDistinguishing states: Real-valued modal logics

Equational and logical views coincide: Metrics yield samedistances as real-valued modal logicsCompositional reasoning by Non-Expansivity.Process-combinators take nearby processes to nearby processes.

d(s1, t1) < ε1, d(s2, t2) < ε2

d(s1 || s2, t1 ||t2) < ε1 + ε2

Results work for Markov chains, Labelled Markov processes,Markov decision processes and Labelled Concurrent Markovchains with τ -transitions.

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Metrics

Summary of results

Establishing closeness of states: CoinductionDistinguishing states: Real-valued modal logicsEquational and logical views coincide: Metrics yield samedistances as real-valued modal logics

Compositional reasoning by Non-Expansivity.Process-combinators take nearby processes to nearby processes.

d(s1, t1) < ε1, d(s2, t2) < ε2

d(s1 || s2, t1 ||t2) < ε1 + ε2

Results work for Markov chains, Labelled Markov processes,Markov decision processes and Labelled Concurrent Markovchains with τ -transitions.

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Metrics

Summary of results

Establishing closeness of states: CoinductionDistinguishing states: Real-valued modal logicsEquational and logical views coincide: Metrics yield samedistances as real-valued modal logicsCompositional reasoning by Non-Expansivity.Process-combinators take nearby processes to nearby processes.

d(s1, t1) < ε1, d(s2, t2) < ε2

d(s1 || s2, t1 ||t2) < ε1 + ε2

Results work for Markov chains, Labelled Markov processes,Markov decision processes and Labelled Concurrent Markovchains with τ -transitions.

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Metrics

Summary of results

Establishing closeness of states: CoinductionDistinguishing states: Real-valued modal logicsEquational and logical views coincide: Metrics yield samedistances as real-valued modal logicsCompositional reasoning by Non-Expansivity.Process-combinators take nearby processes to nearby processes.

d(s1, t1) < ε1, d(s2, t2) < ε2

d(s1 || s2, t1 ||t2) < ε1 + ε2

Results work for Markov chains, Labelled Markov processes,Markov decision processes and Labelled Concurrent Markovchains with τ -transitions.

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Metrics

Criteria on Metrics

Soundness:d(s, t) = 0⇔ s, t are bisimilar

Stability of distance under temporal evolution:“Nearby states stayclose forever.”Metrics should be computable (efficiently?).

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Metrics

Bisimulation Recalled

Let R be an equivalence relation. R is a bisimulation if: s R t if:

(s −→ P)⇒ [t −→ Q,P =R Q]

(t −→ Q)⇒ [s −→ P,P =R Q]

where P =R Q if(∀R− closed E) P(E) = Q(E)

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Metrics

A putative definition of a metric-bisimulation

m is a metric-bisimulation if: m(s, t) < ε⇒:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

Problem: what is m(P,Q)? — Type mismatch!!Need a way to lift distances from states to a distances ondistributions of states.

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Metrics

A putative definition of a metric-bisimulation

m is a metric-bisimulation if: m(s, t) < ε⇒:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

Problem: what is m(P,Q)? — Type mismatch!!

Need a way to lift distances from states to a distances ondistributions of states.

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Metrics

A putative definition of a metric-bisimulation

m is a metric-bisimulation if: m(s, t) < ε⇒:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

Problem: what is m(P,Q)? — Type mismatch!!Need a way to lift distances from states to a distances ondistributions of states.

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Metrics

A detour: Kantorovich metric

Metrics on probability measures on metric spaces.

M: 1-bounded pseudometrics on states.

d(µ, ν) = supf|∫

fdµ−∫

fdν|, f 1-Lipschitz

Arises in the solution of an LP problem: transshipment.

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Metrics

A detour: Kantorovich metric

Metrics on probability measures on metric spaces.M: 1-bounded pseudometrics on states.

d(µ, ν) = supf|∫

fdµ−∫

fdν|, f 1-Lipschitz

Arises in the solution of an LP problem: transshipment.

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Metrics

A detour: Kantorovich metric

Metrics on probability measures on metric spaces.M: 1-bounded pseudometrics on states.

d(µ, ν) = supf|∫

fdµ−∫

fdν|, f 1-Lipschitz

Arises in the solution of an LP problem: transshipment.

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Metrics

A detour: Kantorovich metric

Metrics on probability measures on metric spaces.M: 1-bounded pseudometrics on states.

d(µ, ν) = supf|∫

fdµ−∫

fdν|, f 1-Lipschitz

Arises in the solution of an LP problem: transshipment.

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Metrics

An LP version for Finite-State Spaces

When state space is finite: Let P,Q be probability distributions. Then:

m(P,Q) = max∑

i

(P(si)− Q(si))ai

subject to:∀i.0 ≤ ai ≤ 1∀i, j. ai − aj ≤ m(si, sj).

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Metrics

The Dual Form

Dual form from Worrell and van Breugel:

min∑

i,j

lijm(si, sj) +∑

i

xi +∑

j

yj

subject to:∀i.∑

j lij + xi = P(si)

∀j.∑

i lij + yj = Q(sj)∀i, j. lij, xi, yj ≥ 0.

We prove many equations by using the primal form to show onedirection and the dual to show the other.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 29 / 41

Page 59: Labelled Markov Processes - cs.cornell.edu

Metrics

Return from Detour

Summary of detour: Given a metric on states in a metric space, can liftto a metric on probability distributions on states.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 30 / 41

Page 60: Labelled Markov Processes - cs.cornell.edu

Metrics

Metric “Bisimulation”

m is a metric-bisimulation if: m(s, t) < ε⇒:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

The required canonical metric on processes is the least such: ie.the distances are the least possible.Thm: Canonical least metric exists. Usual fixed-point theoryarguments.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 31 / 41

Page 61: Labelled Markov Processes - cs.cornell.edu

Metrics

Metrics: some details

M: 1-bounded pseudometrics on states with ordering

m1 � m2 if (∀s, t) [m1(s, t) ≥ m2(s, t)]

(M,�) is a complete lattice.

⊥(s, t) =

{0 if s = t1 otherwise

>(s, t) = 0, (∀s, t)(u{mi}(s, t) = sup

imi(s, t)

Panangaden (McGill) Labelled Markov Processes MFPS XXX 32 / 41

Page 62: Labelled Markov Processes - cs.cornell.edu

Metrics

Maximum fixed point definition

Let m ∈M. F(m)(s, t) < ε if:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

F(m)(s, t) can be given by an explicit expression.F is monotone onM, and metric-bisimulation is the greatest fixedpoint of F.The closure ordinal of F is ω.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 33 / 41

Page 63: Labelled Markov Processes - cs.cornell.edu

Metrics

Maximum fixed point definition

Let m ∈M. F(m)(s, t) < ε if:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

F(m)(s, t) can be given by an explicit expression.

F is monotone onM, and metric-bisimulation is the greatest fixedpoint of F.The closure ordinal of F is ω.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 33 / 41

Page 64: Labelled Markov Processes - cs.cornell.edu

Metrics

Maximum fixed point definition

Let m ∈M. F(m)(s, t) < ε if:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

F(m)(s, t) can be given by an explicit expression.F is monotone onM, and metric-bisimulation is the greatest fixedpoint of F.

The closure ordinal of F is ω.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 33 / 41

Page 65: Labelled Markov Processes - cs.cornell.edu

Metrics

Maximum fixed point definition

Let m ∈M. F(m)(s, t) < ε if:

s −→ P⇒ t −→ Q, m(P,Q) < ε

t −→ Q⇒ s −→ P, m(P,Q) < ε

F(m)(s, t) can be given by an explicit expression.F is monotone onM, and metric-bisimulation is the greatest fixedpoint of F.The closure ordinal of F is ω.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 33 / 41

Page 66: Labelled Markov Processes - cs.cornell.edu

Metrics

A logical metric

Develop a real-valued “modal logic” based on the analogy due toKozen:

Program Logic Probabilistic LogicState s Distribution µFormula φ Random Variable fSatisfaction s |= φ

∫f dµ

Define a metric based on how closely the random variables agree.We did this before the LP based techniques became available.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 34 / 41

Page 67: Labelled Markov Processes - cs.cornell.edu

Metrics

A logical metric

Develop a real-valued “modal logic” based on the analogy due toKozen:

Program Logic Probabilistic LogicState s Distribution µFormula φ Random Variable fSatisfaction s |= φ

∫f dµ

Define a metric based on how closely the random variables agree.

We did this before the LP based techniques became available.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 34 / 41

Page 68: Labelled Markov Processes - cs.cornell.edu

Metrics

A logical metric

Develop a real-valued “modal logic” based on the analogy due toKozen:

Program Logic Probabilistic LogicState s Distribution µFormula φ Random Variable fSatisfaction s |= φ

∫f dµ

Define a metric based on how closely the random variables agree.We did this before the LP based techniques became available.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 34 / 41

Page 69: Labelled Markov Processes - cs.cornell.edu

Metrics

Real-valued Modal Logic

f ::= 1 | max(f , f ) | h ◦ f | 〈a〉.f

1(s) = 1 Truemax(f1, f2)(s) = max(f1(s), f2(s)) Conjunctionh ◦ f (s) = h(f (s)) Lipschitz〈a〉.f (s) = γ

∫s′∈S f (s′)τa(s, ds′) a-transition

where h 1-Lipschitz : [0, 1]→ [0, 1] and γ ∈ (0, 1].d(s, t) = supf |f (s)− f (t)|Thm: d coincides with the canonical metric-bisimulation.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 35 / 41

Page 70: Labelled Markov Processes - cs.cornell.edu

Metrics

Real-valued Modal Logic

f ::= 1 | max(f , f ) | h ◦ f | 〈a〉.f

1(s) = 1 Truemax(f1, f2)(s) = max(f1(s), f2(s)) Conjunctionh ◦ f (s) = h(f (s)) Lipschitz〈a〉.f (s) = γ

∫s′∈S f (s′)τa(s, ds′) a-transition

where h 1-Lipschitz : [0, 1]→ [0, 1] and γ ∈ (0, 1].

d(s, t) = supf |f (s)− f (t)|Thm: d coincides with the canonical metric-bisimulation.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 35 / 41

Page 71: Labelled Markov Processes - cs.cornell.edu

Metrics

Real-valued Modal Logic

f ::= 1 | max(f , f ) | h ◦ f | 〈a〉.f

1(s) = 1 Truemax(f1, f2)(s) = max(f1(s), f2(s)) Conjunctionh ◦ f (s) = h(f (s)) Lipschitz〈a〉.f (s) = γ

∫s′∈S f (s′)τa(s, ds′) a-transition

where h 1-Lipschitz : [0, 1]→ [0, 1] and γ ∈ (0, 1].d(s, t) = supf |f (s)− f (t)|

Thm: d coincides with the canonical metric-bisimulation.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 35 / 41

Page 72: Labelled Markov Processes - cs.cornell.edu

Metrics

Real-valued Modal Logic

f ::= 1 | max(f , f ) | h ◦ f | 〈a〉.f

1(s) = 1 Truemax(f1, f2)(s) = max(f1(s), f2(s)) Conjunctionh ◦ f (s) = h(f (s)) Lipschitz〈a〉.f (s) = γ

∫s′∈S f (s′)τa(s, ds′) a-transition

where h 1-Lipschitz : [0, 1]→ [0, 1] and γ ∈ (0, 1].d(s, t) = supf |f (s)− f (t)|Thm: d coincides with the canonical metric-bisimulation.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 35 / 41

Page 73: Labelled Markov Processes - cs.cornell.edu

Metrics

The role of γ

γ discounts the value of future steps.

γ < 1 and γ = 1 yield very different topologies.For γ < 1 there is an LP-based strongly-polynomial (in the numberof constraints, and the number of bits of precision required)algorithm to compute the metric.For γ = 1 an algorithm to compute the metric has been discoveredby van Breugel et al.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 36 / 41

Page 74: Labelled Markov Processes - cs.cornell.edu

Metrics

The role of γ

γ discounts the value of future steps.γ < 1 and γ = 1 yield very different topologies.

For γ < 1 there is an LP-based strongly-polynomial (in the numberof constraints, and the number of bits of precision required)algorithm to compute the metric.For γ = 1 an algorithm to compute the metric has been discoveredby van Breugel et al.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 36 / 41

Page 75: Labelled Markov Processes - cs.cornell.edu

Metrics

The role of γ

γ discounts the value of future steps.γ < 1 and γ = 1 yield very different topologies.For γ < 1 there is an LP-based strongly-polynomial (in the numberof constraints, and the number of bits of precision required)algorithm to compute the metric.

For γ = 1 an algorithm to compute the metric has been discoveredby van Breugel et al.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 36 / 41

Page 76: Labelled Markov Processes - cs.cornell.edu

Metrics

The role of γ

γ discounts the value of future steps.γ < 1 and γ = 1 yield very different topologies.For γ < 1 there is an LP-based strongly-polynomial (in the numberof constraints, and the number of bits of precision required)algorithm to compute the metric.For γ = 1 an algorithm to compute the metric has been discoveredby van Breugel et al.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 36 / 41

Page 77: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation Results

Our main result is a systematic approximation scheme for labelledMarkov processes. The set of LMPs is a Polish space.

For any LMP, we explicitly provide a (countable) sequence ofapproximants to it such that:

1 For every logical property satisfied by a process, there is anelement of the chain that also satisfies the property.

2 The sequence of approximants converges, in the metric definedbefore, to the process that is being approximated.

The essential idea: approximate bisimulation.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 37 / 41

Page 78: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation Results

Our main result is a systematic approximation scheme for labelledMarkov processes. The set of LMPs is a Polish space.For any LMP, we explicitly provide a (countable) sequence ofapproximants to it such that:

1 For every logical property satisfied by a process, there is anelement of the chain that also satisfies the property.

2 The sequence of approximants converges, in the metric definedbefore, to the process that is being approximated.

The essential idea: approximate bisimulation.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 37 / 41

Page 79: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation Results

Our main result is a systematic approximation scheme for labelledMarkov processes. The set of LMPs is a Polish space.For any LMP, we explicitly provide a (countable) sequence ofapproximants to it such that:

1 For every logical property satisfied by a process, there is anelement of the chain that also satisfies the property.

2 The sequence of approximants converges, in the metric definedbefore, to the process that is being approximated.

The essential idea: approximate bisimulation.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 37 / 41

Page 80: Labelled Markov Processes - cs.cornell.edu

Approximation

Domain-theoretic approximation of LMPs

we establish the following equivalence of categories:

LMP ' Proc

where LMP is the category with objects LMPs and withmorphisms simulations; and Proc is the solution to the recursivedomain equation

Proc '∏

Labels

PProb(Proc).

We show that there is a perfect match between:bisimulation and equality in Proc,simulation and the partial order of Proc,strict simulation and way below in Proc.

The sequence of approximants is a directed set in the simulationordering and the process being approximated is the sup of thisdirected set.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 38 / 41

Page 81: Labelled Markov Processes - cs.cornell.edu

Approximation

Domain-theoretic approximation of LMPs

we establish the following equivalence of categories:

LMP ' Proc

where LMP is the category with objects LMPs and withmorphisms simulations; and Proc is the solution to the recursivedomain equation

Proc '∏

Labels

PProb(Proc).

We show that there is a perfect match between:bisimulation and equality in Proc,simulation and the partial order of Proc,strict simulation and way below in Proc.

The sequence of approximants is a directed set in the simulationordering and the process being approximated is the sup of thisdirected set.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 38 / 41

Page 82: Labelled Markov Processes - cs.cornell.edu

Approximation

Domain-theoretic approximation of LMPs

we establish the following equivalence of categories:

LMP ' Proc

where LMP is the category with objects LMPs and withmorphisms simulations; and Proc is the solution to the recursivedomain equation

Proc '∏

Labels

PProb(Proc).

We show that there is a perfect match between:bisimulation and equality in Proc,simulation and the partial order of Proc,strict simulation and way below in Proc.

The sequence of approximants is a directed set in the simulationordering and the process being approximated is the sup of thisdirected set.Panangaden (McGill) Labelled Markov Processes MFPS XXX 38 / 41

Page 83: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation by averaging

The latest idea is to view LMPs as function transformers.

Functorial view of expectation values.Then bisimulation is naturally dualized and gives eventbisimulation.Approximation is formalized by “coarsening the σ-algebra” ratherthan by clustering points.The approximations form a profinite family that gives thebisimulation-minimal version of the original LMP as a projectivelimit.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 39 / 41

Page 84: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation by averaging

The latest idea is to view LMPs as function transformers.Functorial view of expectation values.

Then bisimulation is naturally dualized and gives eventbisimulation.Approximation is formalized by “coarsening the σ-algebra” ratherthan by clustering points.The approximations form a profinite family that gives thebisimulation-minimal version of the original LMP as a projectivelimit.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 39 / 41

Page 85: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation by averaging

The latest idea is to view LMPs as function transformers.Functorial view of expectation values.Then bisimulation is naturally dualized and gives eventbisimulation.

Approximation is formalized by “coarsening the σ-algebra” ratherthan by clustering points.The approximations form a profinite family that gives thebisimulation-minimal version of the original LMP as a projectivelimit.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 39 / 41

Page 86: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation by averaging

The latest idea is to view LMPs as function transformers.Functorial view of expectation values.Then bisimulation is naturally dualized and gives eventbisimulation.Approximation is formalized by “coarsening the σ-algebra” ratherthan by clustering points.

The approximations form a profinite family that gives thebisimulation-minimal version of the original LMP as a projectivelimit.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 39 / 41

Page 87: Labelled Markov Processes - cs.cornell.edu

Approximation

Approximation by averaging

The latest idea is to view LMPs as function transformers.Functorial view of expectation values.Then bisimulation is naturally dualized and gives eventbisimulation.Approximation is formalized by “coarsening the σ-algebra” ratherthan by clustering points.The approximations form a profinite family that gives thebisimulation-minimal version of the original LMP as a projectivelimit.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 39 / 41

Page 88: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.

I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 89: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.

Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 90: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....

Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 91: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.

Radu: Completeness theorems and duality.Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 92: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.

Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 93: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.Doina: Machine learning.

Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 94: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.

A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 95: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 96: Labelled Markov Processes - cs.cornell.edu

Approximation

Conclusions

A very fast overview of some of the work on LMPs.I have skipped the work by Mislove et al. on C∗-algebra duality forLMPs and also on testing equivalences.Also many results by Doberkat, d’Argenio, Varacca,Goubault-Larrecq, Segala, Mio, Simpson, Jacobs, Ying,.....Josée: Logical characterization of bisimulation.Radu: Completeness theorems and duality.Doina: Machine learning.Probabilistic reasoning, modelling and programming is in itsheyday.A major theme of this MFPS: Invited talk and special session pluscontributed talks.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 40 / 41

Page 97: Labelled Markov Processes - cs.cornell.edu

Approximation

The End

Thanks for listening!

Buy the book: Labelled Markov Processes Imperial College Press,2009.

Available for free on various pirate websites.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 41 / 41

Page 98: Labelled Markov Processes - cs.cornell.edu

Approximation

The End

Thanks for listening!

Buy the book: Labelled Markov Processes Imperial College Press,2009.

Available for free on various pirate websites.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 41 / 41

Page 99: Labelled Markov Processes - cs.cornell.edu

Approximation

The End

Thanks for listening!

Buy the book: Labelled Markov Processes Imperial College Press,2009.

Available for free on various pirate websites.

Panangaden (McGill) Labelled Markov Processes MFPS XXX 41 / 41