●●°| Probab| listic Mode o Integrate over all p(x-1) Bel(x)=∞p(1|x1)p(x1an12E1,a1-2,2-0) (=,|x,)p(x,|x )p(x-1|a12,-0)x1 x-1 D(1x)m(x1|x1,a-)(x)Probabilistic Model z Integrate over all p(xt-1): Bel (x ) = α ( ( z p | x ) x p | at −1, zt −1, at − 2 ,..., z ) t t t t 0 z p | xt ) ∫ x p t | xt −1, at −1, zt − 2 ,..., z ) x p | at −1 = α ( ( ( ,..., z )dx t 0 t −1 0 t −1 xt −1 z p | xt ) ∫ x p t | xt −1, at −1 = α ( ( ) (x p )dx t t −1 t −1 xt −1