Information-theoretic sensor placement [1] implemented in Python, Cython, JAX, and Julia.

[1] A. Krause, A. Singh, and C. Guestrin, "Near-Optimal Sensor Placements in Gaussian Processes: Theory, Efficient Algorithms and Empirical Studies," J. Mach. Learn. Res., vol. 9, pp. 235–284, Jun. 2008.

The Python dependencies are installed with Nix.

Navigate to the python directory and run

nix develop

The Cython implementation relies on Intel's oneMKL library which is unfree.

Navigate to the python directory and uncomment pkgs.mkl in flake.nix. Run

NIXPKGS_ALLOW_UNFREE=1 nix develop --impure
python setup.py build_ext --inplace

to compile the Cython extensions.

JAX on CPU is automatically installed with the Python dependencies.

For GPU support, create a Conda environment with micromamba from the explicitly pinned dependencies with

micromamba create -y --prefix ./.venv -f linux-64-spec-list.txt
eval "$(micromamba shell hook)"
micromamba activate ./.venv
pip install --requirement requirements.txt

from the python directory. Note that this requires a x86-64 Linux system.

Alternatively, create from the environment specification with

micromamba create --prefix ./.venv -f environment.yml
eval "$(micromamba shell hook)"
micromamba activate ./.venv

This is up-to-date and works on more platforms but the resolved dependencies may not work as expected.

Installation is done using the standard Pkg interface.

Navigate to the Sensors.jl/examples directory and run

julia --project="@."

(examples) pkg> instantiate

Navigate to the python directory and run

python main.py

Navigate to the Sensors.jl/examples directory and run

julia --project="@." main.jl

All experiments are done with a Matérn kernel with smoothness 5 / 2 and length scale 1. Points are uniformly drawn from the unit hypercube with spacial dimension d = 3. n denotes the number of points and s the number of points selected. entropy refers to greedily selecting the points with maximum conditional entropy and mi to maximizing the conditional mutual information with unselected points.

CPU experiments were run on a laptop. The GPU used was an A100 with 12 GB of memory.