diff --git a/discrete_bayes.ipynb b/discrete_bayes.ipynb index 3f67500..645067b 100644 --- a/discrete_bayes.ipynb +++ b/discrete_bayes.ipynb @@ -1,7 +1,7 @@ { "metadata": { "name": "", - "signature": "sha256:4596c3be2efa3686f3281d6c9e9e897bfa114ca6945b5da108745cb466846335" + "signature": "sha256:65531b21c1e02194222568498f24cf6992c1fc1a78ff905904e612aa9b45fb5e" }, "nbformat": 3, "nbformat_minor": 0, @@ -44,7 +44,7 @@ " background: transparent;\n", " color: #000000;\n", " font-weight: 600;\n", - " font-size: 13pt;\n", + " font-size: 11pt;\n", " font-style: bold;\n", " font-family: 'Source Code Pro', Consolas, monocco, monospace;\n", " }\n", @@ -250,7 +250,7 @@ "output_type": "pyout", "prompt_number": 1, "text": [ - "" + "" ] } ], @@ -346,7 +346,7 @@ "output_type": "display_data", "png": 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"text": [ - "" + "" ] } ], @@ -457,7 +457,7 @@ "cell_type": "code", "collapsed": false, "input": [ - "def measure (pos, measure, p_hit, p_miss):\n", + "def update (pos, measure, p_hit, p_miss):\n", " q = np.array(pos, dtype=float)\n", " for i in range(len(hallway)):\n", " if hallway[i] == measure:\n", @@ -468,7 +468,7 @@ "\n", "pos = np.array([0.2]*10)\n", "reading = 1 # 1 is 'door'\n", - "pos = measure (pos, 1, .6, .2)\n", + "pos = update (pos, 1, .6, .2)\n", "\n", "print(pos)\n", "print('sum =', sum(pos))" @@ -498,12 +498,12 @@ "cell_type": "code", "collapsed": false, "input": [ - "def normalize (p):\n", + "def normalize(p):\n", " s = sum(p)\n", " for i in range (len(p)):\n", " p[i] = p[i] / s\n", " \n", - "def sense (pos, measure, p_hit, p_miss):\n", + "def update(pos, measure, p_hit, p_miss):\n", " q = np.array(pos, dtype=float)\n", " for i in range(len(hallway)):\n", " if hallway[i] == measure:\n", @@ -516,7 +516,7 @@ "\n", "pos = np.array([0.2]*10)\n", "reading = 1 # 1 is 'door'\n", - "pos = sense (pos, 1, .6, .2)\n", + "pos = update(pos, 1, .6, .2)\n", "\n", "print('sum =', sum(pos))\n", "print('probability of door =', pos[0])\n", @@ -530,12 +530,12 @@ "stream": "stdout", "text": [ "sum = 1.0\n", - "probability of door = 0.1875\n", - "probability of wall = 0.0625\n" + "probability of door = 0.166666666667\n", + "probability of wall = 0.166666666667\n" ] } ], - "prompt_number": 8 + "prompt_number": 22 }, { "cell_type": "markdown", @@ -570,7 +570,7 @@ "collapsed": false, "input": [ "import numpy\n", - "def perfect_update(pos, move):\n", + "def perfect_predict(pos, move):\n", " \"\"\" move the position by 'move' spaces, where positive is to the right, and negative\n", " is to the left\n", " \"\"\"\n", @@ -581,9 +581,9 @@ " return result\n", " \n", "pos = np.array([.4, .1, .2, .3])\n", - "print('pos before update =', pos)\n", - "pos = perfect_update(pos, 1)\n", - "print('pos after update =', pos)\n" + "print('pos before predict =', pos)\n", + "pos = perfect_predict(pos, 1)\n", + "print('pos after predict =', pos)\n" ], "language": "python", "metadata": {}, @@ -592,12 +592,12 @@ "output_type": "stream", "stream": "stdout", "text": [ - "pos before update = [ 0.4 0.1 0.2 0.3]\n", - "pos after update = [ 0.3 0.4 0.1 0.2]\n" + "pos before predict = [ 0.4 0.1 0.2 0.3]\n", + "pos after predict = [ 0.3 0.4 0.1 0.2]\n" ] } ], - "prompt_number": 9 + "prompt_number": 23 }, { "cell_type": "markdown", @@ -611,7 +611,7 @@ "level": 2, "metadata": {}, "source": [ - "Adding Noise to the Update" + "Adding Noise to the Prediction" ] }, { @@ -629,7 +629,7 @@ "cell_type": "code", "collapsed": false, "input": [ - "def update (pos, move, p_correct, p_under, p_over):\n", + "def predict(pos, move, p_correct, p_under, p_over):\n", " n = len(pos)\n", " result = np.array(pos, dtype=float)\n", " for i in range(n):\n", @@ -640,7 +640,7 @@ " return result\n", "\n", "p = np.array([0,0,0,1,0,0,0,0])\n", - "res = update (p, 2, .8, .1, .1)\n", + "res = predict(p, 2, .8, .1, .1)\n", "print(res)" ], "language": "python", @@ -654,7 +654,7 @@ ] } ], - "prompt_number": 10 + "prompt_number": 24 }, { "cell_type": "markdown", @@ -668,7 +668,7 @@ "collapsed": false, "input": [ "p = np.array([0, 0, .4, .6, 0, 0, 0, 0])\n", - "res = update (p, 2, .8, .1, .1)\n", + "res = predict (p, 2, .8, .1, .1)\n", "print(res)" ], "language": "python", @@ -682,7 +682,7 @@ ] } ], - "prompt_number": 11 + "prompt_number": 25 }, { "cell_type": "markdown", @@ -707,11 +707,11 @@ "output_type": "display_data", "png": 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+6fp6vZ6vfOUrufPOO7Nq1ao3Xbdr166Zr7u6utLV1fVWZgYAgDcYHBzM4ODgzPbGjRvn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\n", "text": [ - "" + "" ] } ], - "prompt_number": 12 + "prompt_number": 26 }, { "cell_type": "markdown", @@ -726,7 +726,7 @@ "input": [ "pos = [1.0,0,0,0,0,0,0,0,0,0]\n", "for i in range (500):\n", - " pos = update(pos, 1, .8, .1, .1)\n", + " pos = predict(pos, 1, .8, .1, .1)\n", "print(pos)\n", "bar_plot.plot(pos)" ], @@ -745,11 +745,11 @@ "output_type": "display_data", "png": 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27NkzdvpDV1dXKpVK1q9fnyQZHR3NZz7zmdx0000nDNq77rrrpJ4MAACcyH8eWO3t7Z1w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\nKIoABgCgKAIYAICi/H8YNK0wsWV4jgAAAABJRU5ErkJggg==\n", "text": [ - "" + "" ] } ], - "prompt_number": 13 + "prompt_number": 27 }, { "cell_type": "markdown", @@ -763,8 +763,8 @@ "collapsed": false, "input": [ "pos = [1.0,0,0,0,0,0,0,0,0,0]\n", - "for i in range (100):\n", - " pos = update(pos, 1, .8, .1, .1)\n", + "for i in range(100):\n", + " pos = predict(pos, 1, .8, .1, .1)\n", "print(pos)\n", "bar_plot.plot(pos)" ], @@ -784,11 +784,11 @@ "output_type": "display_data", "png": 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oKPV6PXv37h07/aGrqyuVSiXr1q1LkoyOjuZzn/tcbr311lMG7d13331a3wwAAJzKf26s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\n", "text": [ - "" + "" ] } ], - "prompt_number": 14 + "prompt_number": 28 }, { "cell_type": "heading", @@ -816,9 +816,9 @@ "collapsed": false, "input": [ "p = np.array([.1]*10)\n", - "p = sense(p, 1, .6, .2)\n", + "p = update(p, 1, .6, .2)\n", "print(p)\n", - "p = update(p, 1, .8, .1, .1)\n", + "p = predict(p, 1, .8, .1, .1)\n", "print(p)\n", "bar_plot.plot(p)" ], @@ -829,22 +829,22 @@ "output_type": "stream", "stream": "stdout", "text": [ - "[ 0.1875 0.1875 0.0625 0.0625 0.0625 0.0625 0.0625 0.0625 0.1875\n", - " 0.0625]\n", - "[ 0.0875 0.175 0.175 0.075 0.0625 0.0625 0.0625 0.0625 0.075\n", - " 0.1625]\n" + "[ 0.16666667 0.05555556 0.16666667 0.05555556 0.05555556 0.16666667\n", + " 0.05555556 0.16666667 0.05555556 0.05555556]\n", + "[ 0.06666667 0.14444444 0.07777778 0.14444444 0.06666667 0.06666667\n", + " 0.14444444 0.07777778 0.14444444 0.06666667]\n" ] }, { "metadata": {}, "output_type": "display_data", - "png": 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+ "png": 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NDaVer2fXrl1jpz90dXWlUqlk7dq1SZLR0dF84QtfyPXXX3/coL3rrrtO6IsBAIDj+c+N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\nAIoigAEAKIoABgCgKAIYAICi/B9Yuq046TYXqgAAAABJRU5ErkJggg==\n", "text": [ - "" + "" ] } ], - "prompt_number": 15 + "prompt_number": 29 }, { "cell_type": "markdown", @@ -857,7 +857,7 @@ "cell_type": "code", "collapsed": false, "input": [ - "p = sense(p, 1, .6, .2)\n", + "p = update(p, 1, .6, .2)\n", "print(p)\n", "bar_plot.plot(p)" ], @@ -868,20 +868,20 @@ "output_type": "stream", "stream": "stdout", "text": [ - "[ 0.15671642 0.31343284 0.10447761 0.04477612 0.03731343 0.03731343\n", - " 0.03731343 0.03731343 0.13432836 0.09701493]\n" + "[ 0.12676056 0.0915493 0.14788732 0.0915493 0.04225352 0.12676056\n", + " 0.0915493 0.14788732 0.0915493 0.04225352]\n" ] }, { "metadata": {}, "output_type": "display_data", - "png": 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+ "png": 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"text": [ - "" + "" ] } ], - "prompt_number": 16 + "prompt_number": 30 }, { "cell_type": "markdown", @@ -894,8 +894,8 @@ "cell_type": "code", "collapsed": false, "input": [ - "p = update(p, 1, .8, .1, .1)\n", - "p = sense(p, 0, .6, .2)\n", + "p = predict(p, 1, .8, .1, .1)\n", + "p = update(p, 0, .6, .2)\n", "bar_plot.plot(p)" ], "language": "python", @@ -904,13 +904,13 @@ { "metadata": {}, "output_type": "display_data", - "png": 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+ "png": 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oaCj1ej27d+8eO/2hq6srlUol69atS5KMjo7mc5/7XG6++eYTBu3dd999Uj8MAACcyH8f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\n", "text": [ - "" + "" ] } ], - "prompt_number": 17 + "prompt_number": 31 }, { "cell_type": "markdown", @@ -923,8 +923,8 @@ "cell_type": "code", "collapsed": false, "input": [ - "p = update(p, 1, .8, .1, .1)\n", - "p = sense(p, 0, .6, .2)\n", + "p = predict(p, 1, .8, .1, .1)\n", + "p = update(p, 0, .6, .2)\n", "bar_plot.plot(p)" ], "language": "python", @@ -933,13 +933,13 @@ { "metadata": {}, "output_type": "display_data", - "png": 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+ "png": 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"text": [ - "" + "" ] } ], - "prompt_number": 18 + "prompt_number": 32 }, { "cell_type": "markdown", @@ -974,8 +974,8 @@ "measurements = [1,0,1,0,0]\n", "\n", "for m in measurements:\n", - " pos = sense(pos, m, .6, .2)\n", - " pos = update(pos, 1, .8, .1, .1)\n", + " pos = update(pos, m, .6, .2)\n", + " pos = predict(pos, 1, .8, .1, .1)\n", "bar_plot.plot(pos)\n", "print(pos)" ], @@ -987,7 +987,7 @@ "output_type": "display_data", "png": 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X6/nsZz+bz3/+81m0aNHUTQkAAMexbdu2bNu2bfz2ypUrJ1w3aQAvW7YsO3bsyPDwcOr1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\nGACAoghgAACKIoABACjK/wECq6W0RgqqywAAAABJRU5ErkJggg==\n", "text": [ - "" + "" ] }, { @@ -999,7 +999,7 @@ ] } ], - "prompt_number": 19 + "prompt_number": 33 }, { "cell_type": "markdown", @@ -1012,8 +1012,8 @@ "cell_type": "code", "collapsed": false, "input": [ - "pos = sense(pos, m, .6, .2)\n", - "pos = update(pos, 1, .8, .1, .1)\n", + "pos = update(pos, m, .6, .2)\n", + "pos = predict(pos, 1, .8, .1, .1)\n", "bar_plot.plot(pos)" ], "language": "python", @@ -1024,11 +1024,11 @@ "output_type": "display_data", "png": 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MDQ2lXq9n165dY6c/dHV1pVKpZO3atUmS0dHRfOELX8iNN9543KC96667TujNAADA8fzn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\n", "text": [ - "" + "" ] } ], - "prompt_number": 20 + "prompt_number": 35 }, { "cell_type": "markdown", @@ -1044,8 +1044,8 @@ "measurements = [0,1,0,1,0,0]\n", "\n", "for m in measurements:\n", - " pos = sense(pos, m, .6, .2)\n", - " pos = update(pos, 1, .8, .1, .1)\n", + " pos = update(pos, m, .6, .2)\n", + " pos = predict(pos, 1, .8, .1, .1)\n", "bar_plot.plot(pos)" ], "language": "python", @@ -1056,11 +1056,11 @@ "output_type": "display_data", "png": 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