A system for event prediction using schema networks includes a first antecedent entity state that represents a first entity at a first time; a first consequent entity state that represents the first entity at a second time; a second antecedent entity state that represents a second entity at the first time; and a first schema factor that couples the first and second antecedent entity states to the first consequent entity state; wherein the first schema factor is configured to predict the first consequent entity state from the first and second antecedent entity states.