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Introduction to Bayesian Inference

Tom Loredo
Dept. of Astronomy, Cornell University
http://www.astro.cornell.edu/staff/loredo/bayes/

CASt Summer School June 11, 2008

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Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
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Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
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Scientific Method
Science is more than a body of knowledge; it is a way of thinking.
The method of science, as stodgy and grumpy as it may seem,
is far more important than the findings of science.
Carl Sagan

Scientists argue!
Argument Collection of statements comprising an act of
reasoning from premises to a conclusion
A key goal of science: Explain or predict quantitative
measurements (data!)
Data analysis constructs and appraises arguments that reason from
data to interesting scientific conclusions (explanations, predictions)
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The Role of Data

Data do not speak for themselves!


We dont just tabulate data, we analyze data.
We gather data so they may speak for or against existing
hypotheses, and guide the formation of new hypotheses.
A key role of data in science is to be among the premises in
scientific arguments.

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Data Analysis
Building & Appraising Arguments Using Data

Statistical inference is but one of several interacting modes of


analyzing data.
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Bayesian Statistical Inference

A different approach to all statistical inference problems (i.e.,


not just another method in the list: BLUE, maximum
likelihood, 2 testing, ANOVA, survival analysis . . . )

Foundation: Use probability theory to quantify the strength of


arguments (i.e., a more abstract view than restricting PT to
describe variability in repeated random experiments)

Focuses on deriving consequences of modeling assumptions


rather than devising and calibrating procedures

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Frequentist vs. Bayesian Statements


I find conclusion C based on data Dobs . . .

Frequentist assessment
It was found with a procedure thats right 95% of the time
over the set {Dhyp } that includes Dobs .
Probabilities are properties of procedures, not of particular
results.

Bayesian assessment
The strength of the chain of reasoning from Dobs to C is
0.95, on a scale where 1= certainty.
Probabilities are properties of specific results.
Performance must be separately evaluated (and is typically
good by frequentist criteria).

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Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
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LogicSome Essentials
Logic can be defined as the analysis and appraisal of arguments
Gensler, Intro to Logic
Build arguments with propositions and logical
operators/connectives

Propositions: Statements that may be true or false


P:

Universe can be modeled with CDM

B:

is not 0

B:

not B, i.e., = 0

A:

tot [0.9, 1.1]

Connectives:
AB :

AB :

A and B are both true


A or B is true, or both are
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Arguments
Argument: Assertion that an hypothesized conclusion, H, follows
from premises, P = {A, B, C , . . .} (take , = and)
Notation:
H|P :

Premises P imply H

H may be deduced from P


H follows from P

H is true given that P is true

Arguments are (compound) propositions.


Central role of arguments special terminology for true/false:

A true argument is valid


A false argument is invalid or fallacious
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Valid vs. Sound Arguments


Content vs. form

An argument is factually correct iff all of its premises are true


(it has good content).

An argument is valid iff its conclusion follows from its


premises (it has good form).

An argument is sound iff it is both factually correct and valid


(it has good form and content).

We want to make sound arguments. Formal logic and probability


theory address validity, but there is no formal approach for
addressing factual correctness there is always a subjective
element to an argument.

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Factual Correctness
Although logic can teach us something about validity and
invalidity, it can teach us very little about factual correctness. The
question of the truth or falsity of individual statements is primarily
the subject matter of the sciences.
Hardegree, Symbolic Logic
To test the truth or falsehood of premisses is the task of
science. . . . But as a matter of fact we are interested in, and must
often depend upon, the correctness of arguments whose premisses
are not known to be true.
Copi, Introduction to Logic

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Premises

Facts Things known to be true, e.g. observed data

Reasonable or working assumptions E.g., Euclids fifth


postulate (parallel lines)

Desperate presumption!

Obvious assumptions Axioms, postulates, e.g., Euclids


first 4 postulates (line segment b/t 2 points; congruency of
right angles . . . )

Conclusions from other arguments

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Deductive and Inductive Inference


DeductionSyllogism as prototype
Premise 1: A implies H
Premise 2: A is true
Deduction: H is true
H|P is valid

InductionAnalogy as prototype
Premise 1: A, B, C , D, E all share properties x, y , z
Premise 2: F has properties x, y
Induction: F has property z
F has z|P is not strictly valid, but may still be rational
(likely, plausible, probable); some such arguments are stronger
than others
Boolean algebra (and/or/not over {0, 1}) quantifies deduction.
Bayesian probability theory (and/or/not over [0, 1]) generalizes this
to quantify the strength of inductive arguments.
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Real Number Representation of Induction


P(H|P) strength of argument H|P
P = 0 Argument is invalid
= 1 Argument is valid

(0, 1) Degree of deducibility

A mathematical model for induction:


AND (product rule): P(A B|P) = P(A|P) P(B|A P)

= P(B|P) P(A|B P)

OR (sum rule): P(A B|P) = P(A|P) + P(B|P)


P(A B|P)
NOT:

P(A|P) = 1 P(A|P)

Bayesian inference explores the implications of this model.

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Interpreting Bayesian Probabilities


If we like there is no harm in saying that a probability expresses a
degree of reasonable belief. . . . Degree of confirmation has been
used by Carnap, and possibly avoids some confusion. But whatever
verbal expression we use to try to convey the primitive idea, this
expression cannot amount to a definition. Essentially the notion
can only be described by reference to instances where it is used. It
is intended to express a kind of relation between data and
consequence that habitually arises in science and in everyday life,
and the reader should be able to recognize the relation from
examples of the circumstances when it arises.
Sir Harold Jeffreys, Scientific Inference

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More On Interpretation
Physics uses words drawn from ordinary languagemass, weight,
momentum, force, temperature, heat, etc.but their technical meaning
is more abstract than their colloquial meaning. We can map between the
colloquial and abstract meanings associated with specific values by using
specific instances as calibrators.
A Thermal Analogy
Intuitive notion

Quantification

Calibration

Hot, cold

Temperature, T

Cold as ice = 273K


Boiling hot = 373K

uncertainty

Probability, P

Certainty = 0, 1
p = 1/36:
plausible as snakes eyes
p = 1/1024:
plausible as 10 heads

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A Bit More On Interpretation


Bayesian
Probability quantifies uncertainty in an inductive inference. p(x)
describes how probability is distributed over the possible values x
might have taken in the single case before us:
p is distributed

x has a single,
uncertain value

Frequentist

Probabilities are always (limiting) rates/proportions/frequencies in


an ensemble. p(x) describes variability, how the values of x are
distributed among the cases in the ensemble:
P

x is distributed

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Arguments Relating
Hypotheses, Data, and Models
We seek to appraise scientific hypotheses in light of observed data
and modeling assumptions.
Consider the data and modeling assumptions to be the premises of
an argument with each of various hypotheses, Hi , as conclusions:
Hi |Dobs , I . (I = background information, everything deemed
relevant besides the observed data)
P(Hi |Dobs , I ) measures the degree to which (Dobs , I ) allow one to
deduce Hi . It provides an ordering among arguments for various Hi
that share common premises.
Probability theory tells us how to analyze and appraise the
argument, i.e., how to calculate P(Hi |Dobs , I ) from simpler,
hopefully more accessible probabilities.
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The Bayesian Recipe


Assess hypotheses by calculating their probabilities p(Hi | . . .)
conditional on known and/or presumed information using the
rules of probability theory.
Probability Theory Axioms:
OR (sum rule):

P(H1 H2 |I )

AND (product rule): P(H1 , D|I )

= P(H1 |I ) + P(H2 |I )
P(H1 , H2 |I )
= P(H1 |I ) P(D|H1 , I )

= P(D|I ) P(H1 |D, I )


NOT:

P(H1 |I )

1 P(H1 |I )

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Three Important Theorems


Bayess Theorem (BT)
Consider P(Hi , Dobs |I ) using the product rule:
P(Hi , Dobs |I ) = P(Hi |I ) P(Dobs |Hi , I )

= P(Dobs |I ) P(Hi |Dobs , I )

Solve for the posterior probability:


P(Hi |Dobs , I ) = P(Hi |I )

P(Dobs |Hi , I )
P(Dobs |I )

Theorem holds for any propositions, but for hypotheses &


data the factors have names:
posterior prior likelihood
norm. const. P(Dobs |I ) = prior predictive

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Law of Total Probability (LTP)


Consider exclusive, exhaustive {Bi } (I asserts one of them
must be true),
X
X
P(A, Bi |I ) =
P(Bi |A, I )P(A|I ) = P(A|I )
i

P(Bi |I )P(A|Bi , I )

If we do not see how to get P(A|I ) directly, we can find a set


{Bi } and use it as a basisextend the conversation:
X
P(A|I ) =
P(Bi |I )P(A|Bi , I )
i

If our problem already has Bi in it, we can use LTP to get


P(A|I ) from the joint probabilitiesmarginalization:
X
P(A|I ) =
P(A, Bi |I )
i

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Example: Take A = Dobs , Bi = Hi ; then


X
P(Dobs |I ) =
P(Dobs , Hi |I )
i

X
i

P(Hi |I )P(Dobs |Hi , I )

prior predictive for Dobs = Average likelihood for Hi


(a.k.a. marginal likelihood)

Normalization
For exclusive, exhaustive Hi ,
X
P(Hi | ) = 1
i

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Well-Posed Problems
The rules express desired probabilities in terms of other
probabilities.
To get a numerical value out, at some point we have to put
numerical values in.
Direct probabilities are probabilities with numerical values
determined directly by premises (via modeling assumptions,
symmetry arguments, previous calculations, desperate
presumption . . . ).
An inference problem is well posed only if all the needed
probabilities are assignable based on the premises. We may need to
add new assumptions as we see what needs to be assigned. We
may not be entirely comfortable with what we need to assume!
(Remember Euclids fifth postulate!)
Should explore how results depend on uncomfortable assumptions
(robustness).
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Recap
Bayesian inference is more than BT
Bayesian inference quantifies uncertainty by reporting
probabilities for things we are uncertain of, given specified
premises.
It uses all of probability theory, not just (or even primarily)
Bayess theorem.

The Rules in Plain English

Ground rule: Specify premises that include everything relevant


that you know or are willing to presume to be true (for the
sake of the argument!).

BT: Make your appraisal account for all of your premises.

LTP: If the premises allow multiple arguments for a


hypothesis, its appraisal must account for all of them.
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Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
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Inference With Parametric Models

Models Mi (i = 1 to N), each with parameters i , each imply a


sampling distn (conditional predictive distn for possible data):
p(D|i , Mi )
The i dependence when we fix attention on the observed data is
the likelihood function:
Li (i ) p(Dobs |i , Mi )
We may be uncertain about i (model uncertainty) or i (parameter
uncertainty).

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Three Classes of Problems


Parameter Estimation
Premise = choice of model (pick specific i)
What can we say about i ?

Model Assessment

Model comparison: Premise = {Mi }


What can we say about i?

Model adequacy/GoF: Premise = M1 all alternatives


Is M1 adequate?

Model Averaging
Models share some common params: i = {, i }
What can we say about w/o committing to one model?
(Systematic error is an example)
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Parameter Estimation
Problem statement
I = Model M with parameters (+ any addl info)
Hi = statements about ; e.g. [2.5, 3.5], or > 0
Probability for any such statement can be found using a
probability density function (PDF) for :
P( [, + d]| ) = f ()d

= p(| )d

Posterior probability density


p(|D, M) = R

p(|M) L()
d p(|M) L()

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Summaries of posterior

Best fit values:

Uncertainties:

Marginal distributions

maximizes p(|D, M)
Mode, ,
R
Posterior mean, hi = d p(|D, M)
Credible region of probability
C:
R
C = P( |D, M) = d p(|D, M)
Highest Posterior Density (HPD) region has p(|D, M) higher
inside than outside
Posterior standard deviation, variance, covariances
Interesting parameters , nuisance parameters

R
Marginal distn for : p(|D, M) = d p(, |D, M)
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Nuisance Parameters and Marginalization

To model most data, we need to introduce parameters besides


those of ultimate interest: nuisance parameters.

Example
We have data from measuring a rate r = s + b that is a sum
of an interesting signal s and a background b.
We have additional data just about b.
What do the data tell us about s?

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Marginal posterior distribution


p(s|D, M) =

db p(s, b|D, M)
Z
p(s|M) db p(b|s) L(s, b)
p(s|M)Lm (s)

with Lm (s) the marginal likelihood for s. For broad prior,


Lm (s) p(bs |s) L(s, bs ) bs

best b given s
b uncertainty given s

Profile likelihood Lp (s) L(s, bs ) gets weighted by a parameter


space volume factor
s2 = r2 + 2
E.g., Gaussians: s = r b,
b
Background subtraction is a special case of background marginalization.
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Model Comparison
Problem statement
I = (M1 M2 . . .) Specify a set of models.
Hi = Mi Hypothesis chooses a model.

Posterior probability for a model


p(D|Mi , I )
p(D|I )
p(Mi |I )L(Mi )
R
But L(Mi ) = p(D|Mi ) = di p(i |Mi )p(D|i , Mi ).
p(Mi |D, I ) = p(Mi |I )

Likelihood for model = Average likelihood for its parameters


L(Mi ) = hL(i )i

Varied terminology: Prior predictive = Average likelihood = Global


likelihood = Marginal likelihood = (Weight of) Evidence for model

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Odds and Bayes factors


A ratio of probabilities for two propositions using the same
premises is called the odds favoring one over the other:
Oij

p(Mi |D, I )
p(Mj |D, I )
p(Mi |I ) p(D|Mj , I )

p(Mj |I ) p(D|Mj , I )

The data-dependent part is called the Bayes factor:


Bij

p(D|Mj , I )
p(D|Mj , I )

It is a likelihood ratio; the BF terminology is usually reserved for


cases when the likelihoods are marginal/average likelihoods.

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An Automatic Occams Razor


Predictive probabilities can favor simpler models
p(D|Mi ) =

di p(i |M) L(i )

P(D|H)

Simple H
Complicated H

D obs

D
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The Occam Factor


p, L

Likelihood

Prior

p(D|Mi ) =

di p(i |M) L(i ) p(i |M)L(i )i

i
i
= Maximum Likelihood Occam Factor
L(i )

Models with more parameters often make the data more


probable for the best fit
Occam factor penalizes models for wasted volume of
parameter space
Quantifies intuition that models shouldnt require fine-tuning
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Model Averaging
Problem statement
I = (M1 M2 . . .) Specify a set of models
Models all share a set of interesting parameters,
Each has different set of nuisance parameters i (or different
prior info about them)
Hi = statements about

Model averaging
Calculate posterior PDF for :
X
p(|D, I ) =
p(Mi |D, I ) p(|D, Mi )
i

X
i

L(Mi )

di p(, i |D, Mi )

The model choice is a (discrete) nuisance parameter here.


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Theme: Parameter Space Volume


Bayesian calculations sum/integrate over parameter/hypothesis
space!
(Frequentist calculations average over sample space & typically optimize
over parameter space.)

Marginalization weights the profile likelihood by a volume


factor for the nuisance parameters.

Model likelihoods have Occam factors resulting from


parameter space volume factors.

Many virtues of Bayesian methods can be attributed to this


accounting for the size of parameter space. This idea does not
arise naturally in frequentist statistics (but it can be added by
hand).
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Roles of the Prior


Prior has two roles

Incorporate any relevant prior information


Convert likelihood from intensity to measure
Accounts for size of hypothesis space

Physical analogy
Heat:

Q =

Probability: P

dV cv (r)T (r)
d p(|I )L()

Maximum likelihood focuses on the hottest hypotheses.


Bayes focuses on the hypotheses with the most heat.
A high-T region may contain little heat if its cv is low or if
its volume is small.
A high-L region may contain little probability if its prior is low or if
its volume is small.
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Recap of Key Ideas

Probability as generalized logic for appraising arguments


Three theorems: BT, LTP, Normalization
Calculations characterized by parameter space integrals
Credible regions, posterior expectations
Marginalization over nuisance parameters
Occams razor via marginal likelihoods

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Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
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Binary Outcomes:
Parameter Estimation
M = Existence of two outcomes, S and F ; each trial has same
probability for S or F
Hi = Statements about , the probability for success on the next
trial seek p(|D, M)
D = Sequence of results from N observed trials:
FFSSSSFSSSFS (n = 8 successes in N = 12 trials)
Likelihood:
p(D|, M) = p(failure|, M) p(success|, M)
= n (1 )Nn

= L()

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Prior
Starting with no information about beyond its definition,
use as an uninformative prior p(|M) = 1. Justifications:
Intuition: Dont prefer any interval to any other of same size
Bayess justification: Ignorance means that before doing the
N trials, we have no preference for how many will be successes:

P(n success|M) =

1
N +1

p(|M) = 1

Consider this a conventionan assumption added to M to


make the problem well posed.

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Prior Predictive

p(D|M) =

d n (1 )Nn

= B(n + 1, N n + 1) =
A Beta integral, B(a, b)

n!(N n)!
(N + 1)!

dx x a1 (1 x)b1 =

(a)(b)
(a+b) .

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Posterior

p(|D, M) =

(N + 1)! n
(1 )Nn
n!(N n)!

A Beta distribution. Summaries:


n+1
0.64
Best-fit: = Nn = 2/3; hi = N+2
q
Uncertainty: = (n+1)(Nn+1)
0.12
(N+2)2 (N+3)
Find credible regions numerically, or with incomplete beta
function
Note that the posterior depends on the data only through n,
not the N binary numbers describing the sequence.
n is a (minimal) Sufficient Statistic.

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Binary Outcomes: Model Comparison


Equal Probabilities?
M1 : = 1/2
M2 : [0, 1] with flat prior.

Maximum Likelihoods
M1 :

M2 :

p(D|M1 ) =

1
= 2.44 104
2N

 n  Nn
1
2
= 4.82 104
L(
) =
3
3
p(D|M1 )
= 0.51
p(D|
, M2 )

Maximum likelihoods favor M2 (failures more probable).


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Bayes Factor (ratio of model likelihoods)


1
;
2N

and

B12

p(D|M1 )
p(D|M2 )

p(D|M1 ) =

p(D|M2 ) =

n!(N n)!
(N + 1)!

(N + 1)!
n!(N n)!2N
= 1.57

Bayes factor (odds) favors M1 (equiprobable).


Note that for n = 6, B12 = 2.93; for this small amount of
data, we can never be very sure results are equiprobable.
If n = 0, B12 1/315; if n = 2, B12 1/4.8; for extreme
data, 12 flips can be enough to lead us to strongly suspect
outcomes have different probabilities.
(Frequentist significance tests can reject null for any sample size.)
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Binary Outcomes: Binomial Distribution


Suppose D = n (number of heads in N trials), rather than the
actual sequence. What is p(|n, M)?

Likelihood
Let S = a sequence of flips with n heads.
p(n|, M) =

p(S|, M) p(n|S, , M)

n (1 )Nn
[ # successes = n]

= n (1 )Nn Cn,N
Cn,N = # of sequences of length N with n heads.
p(n|, M) =

N!
n (1 )Nn
n!(N n)!

The binomial distribution for n given , N.


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Posterior

p(|n, M) =

p(n|M) =
=

N!
n
n!(Nn)! (1

p(n|M)

N!
n!(N n)!
1
N +1

p(|n, M) =

)Nn

d n (1 )Nn

(N + 1)! n
(1 )Nn
n!(N n)!

Same result as when data specified the actual sequence.


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Another Variation: Negative Binomial


Suppose D = N, the number of trials it took to obtain a predifined
number of successes, n = 8. What is p(|N, M)?

Likelihood
p(N|, M) is probability for n 1 successes in N 1 trials,
times probability that the final trial is a success:
p(N|, M) =
=

(N 1)!
n1 (1 )Nn
(n 1)!(N n)!
(N 1)!
n (1 )Nn
(n 1)!(N n)!

The negative binomial distribution for N given , n.

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Posterior

p(|D, M) = Cn,N

p(D|M) =

p(|D, M) =

Cn,N

n (1 )Nn
p(D|M)

d n (1 )Nn

(N + 1)! n
(1 )Nn
n!(N n)!

Same result as other cases.

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Final Variation: Meteorological Stopping


Suppose D = (N, n), the number of samples and number of
successes in an observing run whose total number was determined
by the weather at the telescope. What is p(|D, M )?
(M adds info about weather to M.)

Likelihood
p(D|, M ) is the binomial distribution times the probability
that the weather allowed N samples, W (N):
p(D|, M ) = W (N)
Let Cn,N = W (N)

N
n

N!
n (1 )Nn
n!(N n)!

. We get the same result as before!

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Likelihood Principle
To define L(Hi ) = p(Dobs |Hi , I ), we must contemplate what other
data we might have obtained. But the real sample space may be
determined by many complicated, seemingly irrelevant factors; it
may not be well-specified at all. Should this concern us?
Likelihood principle: The result of inferences depends only on how
p(Dobs |Hi , I ) varies w.r.t. hypotheses. We can ignore aspects of the
observing/sampling procedure that do not affect this dependence.
This is a sensible property that frequentist methods do not share.
Frequentist probabilities are long run rates of performance, and
depend on details of the sample space that are irrelevant in a
Bayesian calculation.
Example: Predict 10% of sample is Type A; observe nA = 5 for N = 96
Significance test accepts = 0.1 for binomial sampling;
p(> 2 | = 0.1) = 0.12
Significance test rejects = 0.1 for negative binomial sampling;
p(> 2 | = 0.1) = 0.03

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Inference With Normals/Gaussians


Gaussian PDF
(x)2
1
p(x|, ) = e 22
2

over [, ]

Common abbreviated notation: x N(, 2 )

Parameters
= hxi
2

dx x p(x|, )
Z
= h(x )2 i dx (x )2 p(x|, )

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Gausss Observation: Sufficiency


Suppose our data consist of N measurements, di = + i .
Suppose the noise contributions are independent, and
i N(0, 2 ).
Y
p(D|, , M) =
p(di |, , M)
i

Y
i

Y
i

p(i = di |, , M)



1
(di )2
exp
2 2
2

1
2
e Q()/2
N (2)N/2

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Find dependence of Q on by completing the square:


X
Q =
(di )2
i

X
i

di2 + N2 2Nd

= N( d)2 + Nr 2

where d

1 X
di
N
i

1 X
where r 2
(di d)2
N
i

Likelihood depends on {di } only through d and r :





1
N( d)2
Nr 2
L(, ) = N
exp 2 exp
2
2 2
(2)N/2

The sample mean and variance are sufficient statistics.


This is a miraculous compression of informationthe normal distn
is highly abnormal in this respect!
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Estimating a Normal Mean


Problem specification
Model: di = + i , i N(0, 2 ), is known I = (, M).
Parameter space: ; seek p(|D, , M)

Likelihood




Nr 2
N( d)2
1
exp

exp

2 2
2 2
N (2)N/2


N( d)2
exp
2 2

p(D|, , M) =

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Uninformative prior
Translation invariance p() C , a constant.
This prior is improper unless bounded.

Prior predictive/normalization
Z

N( d)2
p(D|, M) =
d C exp
2 2

= C (/ N) 2

. . . minus a tiny bit from tails, using a proper prior.

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Posterior


1
N( d)2
exp
p(|D, , M) =
2 2
(/ N) 2

Posterior is N(d, w 2 ), with standard deviation w = / N.

68.3% HPD credible region for is d / N.


Note that C drops out limit of infinite prior range is well
behaved.

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Informative Conjugate Prior


Use a normal prior, N(0 , w02 )

Posterior
Normal N(
, w
2 ), but mean, std. deviation shrink towards
prior.
2
Define B = w 2w+w 2 , so B < 1 and B = 0 when w0 is large.
0
Then

e = (1 B) d + B 0

e = w 1B
w

Principle of stable estimation: The prior affects estimates


only when data are not informative relative to prior.

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Estimating a Normal Mean: Unknown


Problem specification
Model: di = + i , i N(0, 2 ), is unknown
Parameter space: (, ); seek p(|D, , M)

Likelihood
p(D|, , M) =





N( d)2
Nr 2
1
exp

exp

2 2
2 2
N (2)N/2
1 Q/22
e
N

where



Q = N r 2 + ( d)2

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Uninformative Priors
Assume priors for and are independent.
Translation invariance p() C , a constant.
Scale invariance p() 1/ (flat in log ).

Joint Posterior for ,


p(, |D, M)

1 Q()/22
e
N+1

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Marginal Posterior
p(|D, M)
Let =

Q
2 2

so =

Q
2

1
N+1

e Q/2

and |d| = 3/2


N/2

p(|D, M) 2

N/2

Q N/2

Q
2

N
1
2

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Write Q =

Nr 2

p(|D, M) =

1+

d
r

2 

and normalize:

"

2 #N/2

1 ! 1
1 d


1+
N r/ N
23 ! r

N
2
N
2

Students t distribution, with t = (d)


r/ N
A bell curve, but with power-law tails
Large N:

p(|D, M) e N(d)

2 /2r 2

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Poisson Distn: Infer a Rate from Counts


Problem: Observe n counts in T ; infer rate, r
Likelihood
L(r ) p(n|r , M) = p(n|r , M) =

(rT )n rT
e
n!

Prior
Two simple standard choices (or conjugate gamma distn):
r known to be nonzero; it is a scale parameter:
p(r |M) =

1
1
ln(ru /rl ) r

r may vanish; require p(n|M) Const:


p(r |M) =

1
ru
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Prior predictive
p(n|M) =
=

Z
1 1 ru
dr (rT )n e rT
ru n! 0
Z
1 1 ru T
d(rT )(rT )n e rT
ru T n! 0
1
n
for ru
ru T
T

Posterior
A gamma distribution:
p(r |n, M) =

T (rT )n rT
e
n!

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Gamma Distributions
A 2-parameter family of distributions over nonnegative x, with
shape parameter and scale parameter s:
p (x|, s) =

1  x 1 x/s
e
s() s

Moments:
E(x) = s

Var(x) = s 2

Our posterior corresponds to = n + 1, s = 1/T .


Mode r = Tn ; mean hr i = n+1
T (shift down 1 with 1/r prior)

Std. devn r = n+1


;
credible
regions found by integrating (can
T
use incomplete gamma function)

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The flat prior


Bayess justification: Not that ignorance of r p(r |I ) = C
Require (discrete) predictive distribution to be flat:
Z
p(n|I ) =
dr p(r |I )p(n|r , I ) = C
p(r |I ) = C

Useful conventions

Use a flat prior for a rate that may be zero


Use a log-flat prior ( 1/r ) for a nonzero scale parameter
Use proper (normalized, bounded) priors
Plot posterior with abscissa that makes prior flat

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The On/Off Problem


Basic problem

Look off-source; unknown background rate b


Count Noff photons in interval Toff

Look on-source; rate is r = s + b with unknown signal s


Count Non photons in interval Ton

Infer s

Conventional solution

b = Noff /Toff ; b = Noff /Toff


r = Non /Ton ; r = qNon /Ton

s = r b;
s = r2 + b2

But s can be negative!

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Examples
Spectra of X-Ray Sources
Bassani et al. 1989

Di Salvo et al. 2001

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Spectrum of Ultrahigh-Energy Cosmic Rays


Nagano & Watson 2000

10

HiRes-2 Monocular
HiRes-1 Monocular
AGASA

Flux*E /10

24

-2

-1

-1

(eV m s sr )

HiRes Team 2007

17

17.5

18

18.5

19

19.5

20

20.5

21

log10(E) (eV)

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N is Never Large
Sample sizes are never large. If N is too small to get a
sufficiently-precise estimate, you need to get more data (or make
more assumptions). But once N is large enough, you can start
subdividing the data to learn more (for example, in a public
opinion poll, once you have a good estimate for the entire country,
you can estimate among men and women, northerners and
southerners, different age groups, etc etc). N is never enough
because if it were enough youd already be on to the next
problem for which you need more data.
Similarly, you never have quite enough money. But thats another
story.
Andrew Gelman (blog entry, 31 July 2005)

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Backgrounds as Nuisance Parameters

Background marginalization with Gaussian noise


Measure background rate b = b b with source off. Measure total
rate r = r r with source on. Infer signal source strength s, where
r = s + b. With flat priors,
#


2
(s + b r )2
(b b)

exp

p(s, b|D, M) exp


2r2
2b2
"

76 / 111

Marginalize b to summarize the results for s (complete the


square to isolate b dependence; then do a simple Gaussian
integral over b):


(s s )2
s = r b
p(s|D, M) exp
s2 = r2 + b2
2s2
Background subtraction is a special case of background
marginalization.

77 / 111

Bayesian Solution to On/Off Problem


First consider off-source data; use it to estimate b:
p(b|Noff , Ioff ) =

Toff (bToff )Noff e bToff


Noff !

Use this as a prior for b to analyze on-source data. For on-source


analysis Iall = (Ion , Noff , Ioff ):
p(s, b|Non ) p(s)p(b)[(s + b)Ton ]Non e (s+b)Ton

|| Iall

p(s|Iall ) is flat, but p(b|Iall ) = p(b|Noff , Ioff ), so


p(s, b|Non , Iall ) (s + b)Non bNoff e sTon e b(Ton +Toff )

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Now marginalize over b;


Z
p(s|Non , Iall ) =
db p(s, b | Non , Iall )
Z

db (s + b)Non bNoff e sTon e b(Ton +Toff )


Expand (s + b)Non and do the resulting integrals:

Ci

Non
X

Ton (sTon )i e sTon


i!
i=0

i
Toff
(Non + Noff i)!

1+
Ton
(Non i)!

p(s|Non , Iall ) =

Ci

Posterior is a weighted sum of Gamma distributions, each assigning a


different number of on-source counts to the source. (Evaluate via
recursive algorithm or confluent hypergeometric function.)

79 / 111

Example On/Off PosteriorsShort Integrations


Ton = 1

80 / 111

Example On/Off PosteriorsLong Background Integrations


Ton = 1

81 / 111

Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
82 / 111

Empirical Number Counts Distributions


Star counts, galaxy counts, GRBs, TNOs . . .

13 TNO Surveys (c. 2001)


BATSE 4B Catalog ( 1200 GRBs)
2

F L/d [ cosmo, extinctn]

2 2
F D 2 /(d
d )

83 / 111

Selection Effects and Measurement Error

Selection effects (truncation, censoring) obvious (usually)


Typically treated by correcting data
Most sophisticated: product-limit estimators

Scatter effects (measurement error, etc.) insidious


Typically ignored (average out?)
84 / 111

Many Guises of Measurement Error


Auger data above GZK cutoff (Nov 2007)

QSO hardness vs. luminosity (Kelly 2007)

85 / 111

History
Eddington, Jeffreys (1920s 1940)
m Uncertainty

^
m

Malmquist, Lutz-Kelker

Joint accounting for truncation and (intrinsic) scatter in 2-D


data (flux + distance indicator, parallax)
Assume homogeneous spatial distribution

86 / 111

Many rediscoveries of scatter biases

Radio sources (1970s)


Galaxies (Eddington, Malmquist; 1990s)
Linear regression (1990s)
GRBs (1990s)
X-ray sources (1990s; 2000s)
TNOs/KBOs (c. 2000)
Galaxy redshift distns (2007+)

87 / 111

Accounting For Measurement Error


Introduce latent/hidden/incidental parameters
Suppose f (x|) is a distribution for an observable, x.

From N precisely measured samples, {xi }, we can infer from


Y
L() p({xi }|) =
f (xi |)
i

88 / 111

Graphical representation

x1

x2

L() p({xi }|) =

xN

Y
i

f (xi |)

89 / 111

But what if the x data are noisy, Di = {xi + i }?

We should somehow incorporate i (xi ) = p(Di |xi )


L(, {xi }) p({Di }|, {xi })
Y
=
i (xi )f (xi |)
i

Marginalize (sum probabilities) over {xi } to summarize for .


Marginalize over to summarize results for {xi }.
Key point: Maximizing over xi and integrating over xi can give
very different results!
90 / 111

Graphical representation

x1

x2

xN

D1

D2

DN

L(, {xi })

p({Di }|, {xi })


Y
Y
=
p(Di |xi )f (xi |) =
i (xi )f (xi |)
i

A two-level multi-level model (MLM).


91 / 111

ExampleDistribution of Source Fluxes


Measure m = 2.5 log(flux) from sources following a rolling power law
distribution (inspired by trans-Neptunian objects)

f (m) 10[(m23)+ (m23)


f(m)

23

Simulate 100 surveys of populations drawn from the same distn.


Simulate data for photon-counting instrument, fixed count threshold.
Measurements have uncertainties 1% (bright) to 30% (dim).

Analyze simulated data with maximum (profile) likelihood and Bayes.


92 / 111

Parameter estimates from Bayes (circles) and maximum likelihood


(crosses):

Uncertainties dont average out!

93 / 111

Smaller measurement error only postpones the inevitable:


Similar toy survey, with parameters to mimic SDSS QSO surveys (few %
errors at dim end):

94 / 111

Bayesian MLMs in Astronomy

Directional & spatio-temporal coincidences:


GRB repetition (Luo+ 1996; Graziani+ 1996)

GRB host ID (Band 1998; Graziani+ 1999)

TNO/KBO magnitude distribution (Gladman+ 1998;


Petit+ 2008)

VO cross-matching (Badav/ari & Szalay 2008)

Magnitude surveys/number counts/log Nlog S:


GRB peak flux distn (Loredo & Wasserman 1998);

Dynamic spectroscopy: SN 1987A neutrinos, uncertain


energy vs. time (Loredo & Lamb 2002)

Linear regression: QSO hardness vs. luminosity (Kelly 2007)


95 / 111

Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
96 / 111

Bayesian Computation
Large sample size: Laplace approximation
Approximate posterior as multivariate normal det(covar) factors
Uses ingredients available in 2 /ML fitting software (MLE, Hessian)
Often accurate to O(1/N)

Low-dimensional models (d <


10 to 20)
Adaptive cubature
Monte Carlo integration (importance sampling, quasirandom MC)

Hi-dimensional models (d >


5)
Posterior samplingcreate RNG that samples posterior
MCMC is most general framework

97 / 111

Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
98 / 111

Probability & Frequency


Frequencies are relevant when modeling repeated trials, or
repeated sampling from a population or ensemble.
Frequencies are observables:

When available, can be used to infer probabilities for next trial


When unavailable, can be predicted

Bayesian/Frequentist relationships:

General relationships between probability and frequency


Long-run performance of Bayesian procedures
Examples of Bayesian/frequentist differences

99 / 111

Relationships Between Probability & Frequency


Frequency from probability
Bernoullis law of large numbers: In repeated i.i.d. trials, given
P(success| . . .) = , predict
Nsuccess

Ntotal

as

Ntotal

Probability from frequency


Bayess An Essay Towards Solving a Problem in the Doctrine
of Chances First use of Bayess theorem:
Probability for success in next trial of i.i.d. sequence:
E

Nsuccess
Ntotal

as

Ntotal

100 / 111

Subtle Relationships For Non-IID Cases


Predict frequency in dependent trials
rt = result of trial t; p(r1 , r2 . . . rN |M) known; predict f :
1 X
p(rt = success|M)
hf i =
N t
X
X
where
p(r1 |M) =

p(r1 , r2 . . . |M3 )
r2

rN

Expected frequency of outcome in many trials =


average probability for outcome across trials.
But also find that f neednt converge to 0.

Infer probabilities for different but related trials


Shrinkage: Biased estimators of the probability that share info
across trials are better than unbiased/BLUE/MLE estimators.
A formalism that distinguishes p from f from the outset is particularly
valuable for exploring subtle connections. E.g., shrinkage is explored via
hierarchical and empirical Bayes.
101 / 111

Frequentist Performance of Bayesian Procedures


Many results known for parametric Bayes performance:
Estimates are consistent if the prior doesnt exclude the true value.
Credible regions found with flat priors are typically confidence
regions to O(n1/2 ); reference priors can improve their
performance to O(n1 ).
Marginal distributions have better frequentist performance than
conventional methods like profile likelihood. (Bartlett correction,
ancillaries, bootstrap are competitive but hard.)
Bayesian model comparison is asymptotically consistent (not true of
significance/NP tests, AIC).
For separate (not nested) models, the posterior probability for the
true model converges to 1 exponentially quickly.
Walds complete class theorem: Optimal frequentist methods are
Bayes rules (equivalent to Bayes for some prior)
...

Parametric Bayesian methods are typically good frequentist methods.


(Not so clear in nonparametric problems.)
102 / 111

Outline
1 The Big Picture
2 FoundationsLogic & Probability Theory
3 Inference With Parametric Models

Parameter Estimation
Model Uncertainty
4 Simple Examples

Binary Outcomes
Normal Distribution
Poisson Distribution
5 Measurement Error Applications
6 Bayesian Computation
7 Probability & Frequency
8 Endnotes: Hotspots, tools, reflections
103 / 111

Some Bayesian Astrostatistics Hotspots

Cosmology

Extrasolar planets

Photon counting data (X-rays, -rays, cosmic rays)

Gravitational wave astronomy

Parametric modeling of CMB, LSS, SNe Ia cosmo params


Nonparametric modeling of SN Ia multicolor light curves
Nonparametric emulation of cosmological models
Parametric modeling of Keplerian reflex motion (planet
detection, orbit estimation)
Optimal scheduling via Bayesian experimental design
Upper limits, hardness ratios
Parametric spectroscopy (line detection, etc.)
Parametric modeling of binary inspirals
Hi-multiplicity parametric modeling of white dwarf background
104 / 111

Tools for Computational Bayes


Astronomer/Physicist Tools

BIE http://www.astro.umass.edu/~weinberg/proto_bie/
Bayesian Inference Engine: General framework for Bayesian inference, tailored to
astronomical and earth-science survey data. Built-in database capability to
support analysis of terabyte-scale data sets. Inference is by Bayes via MCMC.

XSpec, CIAO/Sherpa
Both environments have some basic Bayesian capability (including basic MCMC
in XSpec)

CosmoMC http://cosmologist.info/cosmomc/
Parameter estimation for cosmological models using CMB and other data via
MCMC

ExoFit http://zuserver2.star.ucl.ac.uk/~lahav/exofit.html
Adaptive MCMC for fitting exoplanet RV data

CDF Bayesian Limit Software


http://www-cdf.fnal.gov/physics/statistics/statistics_software.html
Limits for Poisson counting processes, with background & efficiency
uncertainties

root http://root.cern.ch/
Bayesian support? (BayesDivide)

Inference Forthcoming at http://inference.astro.cornell.edu/


Several self-contained Bayesian modules (Gaussian, Poisson, directional
processes); Parametric Inference Engine (PIE) supports 2 , likelihood, and Bayes
105 / 111

Python

PyMC http://trichech.us/pymc
A framework for MCMC via Metropolis-Hastings; also implements Kalman
filters and Gaussian processes. Targets biometrics, but is general.

SimPy http://simpy.sourceforge.net/
Intro to SimPy http://heather.cs.ucdavis.edu/ matloff/simpy.html SimPy
(rhymes with Blimpie) is a process-oriented public-domain package for
discrete-event simulation.

RSPython http://www.omegahat.org/
Bi-directional communication between Python and R

MDP http://mdp-toolkit.sourceforge.net/
Modular toolkit for Data Processing: Current emphasis is on machine learning
(PCA, ICA. . . ). Modularity allows combination of algorithms and other data
processing elements into flows.

Orange http://www.ailab.si/orange/
Component-based data mining, with preprocessing, modeling, and exploration
components. Python/GUI interfaces to C + + implementations. Some Bayesian
components.

ELEFANT http://rubis.rsise.anu.edu.au/elefant
Machine learning library and platform providing Python interfaces to efficient,
lower-level implementations. Some Bayesian components (Gaussian processes;
Bayesian ICA/PCA).
106 / 111

R and S

CRAN Bayesian task view


http://cran.r-project.org/src/contrib/Views/Bayesian.html
Overview of many R packages implementing various Bayesian models and
methods

Omega-hat http://www.omegahat.org/
RPython, RMatlab, R-Xlisp

BOA http://www.public-health.uiowa.edu/boa/
Bayesian Output Analysis: Convergence diagnostics and statistical and graphical
analysis of MCMC output; can read BUGS output files.

CODA
http://www.mrc-bsu.cam.ac.uk/bugs/documentation/coda03/cdaman03.html
Convergence Diagnosis and Output Analysis: Menu-driven R/S plugins for
analyzing BUGS output

107 / 111

Java

Omega-hat http://www.omegahat.org/
Java environment for statistical computing, being developed by XLisp-stat and
R developers

Hydra http://research.warnes.net/projects/mcmc/hydra/
HYDRA provides methods for implementing MCMC samplers using Metropolis,
Metropolis-Hastings, Gibbs methods. In addition, it provides classes
implementing several unique adaptive and multiple chain/parallel MCMC
methods.

YADAS http://www.stat.lanl.gov/yadas/home.html
Software system for statistical analysis using MCMC, based on the
multi-parameter Metropolis-Hastings algorithm (rather than
parameter-at-a-time Gibbs sampling)

108 / 111

C/C++/Fortran

BayeSys 3 http://www.inference.phy.cam.ac.uk/bayesys/
Sophisticated suite of MCMC samplers including transdimensional capability, by
the author of MemSys

fbm http://www.cs.utoronto.ca/~radford/fbm.software.html
Flexible Bayesian Modeling: MCMC for simple Bayes, Bayesian regression and
classification models based on neural networks and Gaussian processes, and
Bayesian density estimation and clustering using mixture models and Dirichlet
diffusion trees

BayesPack, DCUHRE
http://www.sci.wsu.edu/math/faculty/genz/homepage
Adaptive quadrature, randomized quadrature, Monte Carlo integration

BIE, CDF Bayesian limits (see above)

109 / 111

Other Statisticians & Engineers Tools

BUGS/WinBUGS http://www.mrc-bsu.cam.ac.uk/bugs/
Bayesian Inference Using Gibbs Sampling: Flexible software for the Bayesian
analysis of complex statistical models using MCMC

OpenBUGS http://mathstat.helsinki.fi/openbugs/
BUGS on Windows and Linux, and from inside the R

XLisp-stat http://www.stat.uiowa.edu/~luke/xls/xlsinfo/xlsinfo.html
Lisp-based data analysis environment, with an emphasis on providing a
framework for exploring the use of dynamic graphical methods

ReBEL http://choosh.csee.ogi.edu/rebel/
Library supporting recursive Bayesian estimation in Matlab (Kalman filter,
particle filters, sequential Monte Carlo).

110 / 111

Closing Reflections
Philip Dawid (2000)
What is the principal distinction between Bayesian and classical statistics? It is
that Bayesian statistics is fundamentally boring. There is so little to do: just
specify the model and the prior, and turn the Bayesian handle. There is no
room for clever tricks or an alphabetic cornucopia of definitions and optimality
criteria. I have heard people use this dullness as an argument against
Bayesianism. One might as well complain that Newtons dynamics, being based
on three simple laws of motion and one of gravitation, is a poor substitute for
the richness of Ptolemys epicyclic system.
All my experience teaches me that it is invariably more fruitful, and leads to
deeper insights and better data analyses, to explore the consequences of being a
thoroughly boring Bayesian.

Dennis Lindley (2000)


The philosophy places more emphasis on model construction than on formal
inference. . . I do agree with Dawid that Bayesian statistics is fundamentally
boring. . . My only qualification would be that the theory may be boring but the
applications are exciting.

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