Temporal Properties of Conditional Independence in Dynamic Bayesian Networks

Dynamic Bayesian networks (DBNs) are compact graphical representations used to model probabilistic systems where interdependent random variables and their distributions evolve over time. In this paper, we study the verification of the evolution of conditional-independence (CI) propositions against temporal logic specifications. To this end, we consider two specification formalisms over CI propositions: linear temporal logic (LTL), and non-deterministic Büchi automata (NBAs). This problem has two variants. Stochastic CI properties take the given concrete probability distributions into account, while structural CI properties are viewed purely in terms of the graphical structure of the DBN. We show that deciding if a stochastic CI proposition eventually holds is at least as hard as the Skolem problem for linear recurrence sequences, a long-standing open problem in number theory. On the other hand, we show that verifying the evolution of structural CI propositions against LTL and NBA specifications is in PSPACE, and is NP- and coNP-hard. We also identify natural restrictions on the graphical structure of DBNs that make the verification of structural CI properties tractable.