“…= ln q 0:T ∈R(Q p * :T ) P (q p * :T , x p * :T |x 0:p * −1 , λ). (4) For this proposed HMM model which is, as explained below, asymmetric autoregressive with linear Gaussian emission probabilities (AR-AsLG-HMM), we modify the emission probabilities {b i (x t )} N i=1 such that they can be factorized into linear Gaussian Bayesian networks [33] with an asymmetric component [5], i.e., each variable X m for each state i ∈ R(Q) is associated with a set of parents Pa i (X m ) = {U im1 , ..., U imkim } ⊂ {X 1 , ..., X M } of size k im (apart from Q) which influences its mean in a linear form. Additionally, the emission probabilities are now conditional probabilities given p im ≤ p * past values of the variables X t m , m = 1, ..., M (AR terms) for each state i ∈ R(Q).…”