●●°| Probab| listic Mode ● EStimate p(X Be(x,)=p(x,|=,a1,1,a12,=0) ● Bayes’rule Bel(x,= P(,|x,a1-12=1,a12…,2=0)p(x1a1,21,a12,-) tt-1-t-1t-2…:-0 my(1|x1)p(x1an1,x1,a12x,=0)Bel (x )t Probabilistic Model z Estimate p(xt): Bel (x ) = x p | a z t −1, zt −1, at −2 ,..., z ) t ( t t , 0 z Bayes’ rule: (z p | x , a ( t −1, zt −1, at −2 ,..., z ) x p | at −1, zt −1, at −2 ,..., z ) = t t 0 t (z p t | at −1, zt −1, at −2 ,..., z )0 =α ( ( z p | x ) x p | at −1, zt −1, at −2 ,..., z ) t t t 0 0