scholarly journals Locally Adaptive Sampling

Author(s):  
Soheil Feizi ◽  
Vivek K Goyal ◽  
Muriel Medard
2012 ◽  
Vol 33 (11) ◽  
pp. 1451-1459 ◽  
Author(s):  
Leonid Tcherniavski ◽  
Christian Bähnisch ◽  
Hans Meine ◽  
Peer Stelldinger

Author(s):  
Ethan N. Evans ◽  
Patrick Meyer ◽  
Samuel Seifert ◽  
Dimitri N. Mavris ◽  
Evangelos A. Theodorou

Rapidly Exploring Random Trees (RRTs) have gained significant attention due to provable properties such as completeness and asymptotic optimality. However, offline methods are only useful when the entire problem landscape is known a priori. Furthermore, many real world applications have problem scopes that are orders of magnitude larger than typical mazes and bug traps that require large numbers of samples to match typical sample densities, resulting in high computational effort for reasonably low-cost trajectories. In this paper we propose an online trajectory optimization algorithm for uncertain large environments using RRTs, which we call Locally Adaptive Rapidly Exploring Random Tree (LARRT). This is achieved through two main contributions. We use an adaptive local sampling region and adaptive sampling scheme which depend on states of the dynamic system and observations of obstacles. We also propose a localized approach to planning and re-planning through fixing the root node to the current vehicle state and adding tree update functions. LARRT is designed to leverage local problem scope to reduce computational complexity and obtain a total lower-cost solution compared to a classical RRT of a similar number of nodes. Using this technique we can ensure that popular variants of RRT will remain online even for prohibitively large planning problems by transforming a large trajectory optimization approach to one that resembles receding horizon optimization. Finally, we demonstrate our approach in simulation and discuss various algorithmic trade-offs of the proposed approach.


2020 ◽  
Author(s):  
Jingbai Li ◽  
Patrick Reiser ◽  
André Eberhard ◽  
Pascal Friederich ◽  
Steven Lopez

<p>Photochemical reactions are being increasingly used to construct complex molecular architectures with mild and straightforward reaction conditions. Computational techniques are increasingly important to understand the reactivities and chemoselectivities of photochemical isomerization reactions because they offer molecular bonding information along the excited-state(s) of photodynamics. These photodynamics simulations are resource-intensive and are typically limited to 1–10 picoseconds and 1,000 trajectories due to high computational cost. Most organic photochemical reactions have excited-state lifetimes exceeding 1 picosecond, which places them outside possible computational studies. Westermeyr <i>et al.</i> demonstrated that a machine learning approach could significantly lengthen photodynamics simulation times for a model system, methylenimmonium cation (CH<sub>2</sub>NH<sub>2</sub><sup>+</sup>).</p><p>We have developed a Python-based code, Python Rapid Artificial Intelligence <i>Ab Initio</i> Molecular Dynamics (PyRAI<sup>2</sup>MD), to accomplish the unprecedented 10 ns <i>cis-trans</i> photodynamics of <i>trans</i>-hexafluoro-2-butene (CF<sub>3</sub>–CH=CH–CF<sub>3</sub>) in 3.5 days. The same simulation would take approximately 58 years with ground-truth multiconfigurational dynamics. We proposed an innovative scheme combining Wigner sampling, geometrical interpolations, and short-time quantum chemical trajectories to effectively sample the initial data, facilitating the adaptive sampling to generate an informative and data-efficient training set with 6,232 data points. Our neural networks achieved chemical accuracy (mean absolute error of 0.032 eV). Our 4,814 trajectories reproduced the S<sub>1</sub> half-life (60.5 fs), the photochemical product ratio (<i>trans</i>: <i>cis</i> = 2.3: 1), and autonomously discovered a pathway towards a carbene. The neural networks have also shown the capability of generalizing the full potential energy surface with chemically incomplete data (<i>trans</i> → <i>cis</i> but not <i>cis</i> → <i>trans</i> pathways) that may offer future automated photochemical reaction discoveries.</p>


2017 ◽  
Author(s):  
Dung T. Tran ◽  
Marc Delcroix ◽  
Atsunori Ogawa ◽  
Tomohiro Nakatani

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