Generally, probabilistic graphical models use a graph-based representation as the foundation for encoding a distribution over a multi-dimensional space and a graph that is a compact or factorized representation of a set of independences that hold in the specific distribution. Two branches of graphical representations of distributions are commonly used, namely, Bayesian networks and Markov random fields. Both families encompass the properties of factorization and independences, but they differ in the set of independences they can encode and the factorization of the distribution that they induce.
If the network structure of the model is a directed acyclic graph, the model represents a factorization of the joint probability of all random variables. More precisely, if the events are then the joint probability satisfies where is the set of parents of node . In other words, the joint distribution factors into a product of conditional distributions. For example, the graphical model in the Figure shown above consists of the random variables with a joint probability density that factors as Any two nodes are conditionally independent given the values of their parents. In general, any two sets of nodes are conditionally independent given a third set if a criterion called d-separation holds in the graph. Local independences and global independences are equivalent in Bayesian networks. This type of graphical model is known as a directed graphical model, Bayesian network, or belief network. Classic machine learning models like hidden Markov models, neural networks and newer models such as variable-order Markov models can be considered special cases of Bayesian networks.
A factor graph is an undirected bipartite graph connecting variables and factors. Each factor represents a function over the variables it is connected to. This is a helpful representation for understanding and implementing belief propagation.
A chain graph is a graph which may have both directed and undirected edges, but without any directed cycles. Both directed acyclic graphs and undirected graphs are special cases of chain graphs, which can therefore provide a way of unifying and generalizing Bayesian and Markov networks.
An ancestral graph is a further extension, having directed, bidirected and undirected edges.