pydpf.conditional_resampling.ConditionalResampler

class pydpf.conditional_resampling.ConditionalResampler(resampler: Module, condition: Callable)

Bases: Module

__init__(resampler: Module, condition: Callable)

A resampling algorithm that conditionally only resamples a subset of the particles from each batch.

Parameters:

resamplerResampler

The base resampling algorithm to use.

conditionCallable

A function that take the time-step data and returns a 1D boolean tensor where True indicates that resampling should be performed for the given batch and False that it should not.

Notes

We generally do not recommend conditionally resampling in a batched DPF context. Classically, conditional resampling is motivated by computation time, resampling algorithms are typically expensive compared to the other components of the filtering loop. However, in a parallelised setting each batch can be resampled in parallel, and it is likely that at least one batch does not satisfy the condition. For this reason it is likely that the overhead of calculating and applying the condition will more than cancel out any time savings.

Methods

__init__(resampler, condition)	A resampling algorithm that conditionally only resamples a subset of the particles from each batch.
add_module(name, module)	Add a child module to the current module.
apply(fn)	Apply fn recursively to every submodule (as returned by .children()) as well as self.
bfloat16()	Casts all floating point parameters and buffers to bfloat16 datatype.
buffers([recurse])	Return an iterator over module buffers.
children()	Return an iterator over immediate children modules.
compile(*args, **kwargs)	Compile this Module's forward using torch.compile().
cpu()	Move all model parameters and buffers to the CPU.
cuda([device])	Move all model parameters and buffers to the GPU.
double()	Casts all floating point parameters and buffers to double datatype.
eval()	Set the module in evaluation mode.
extra_repr()	Return the extra representation of the module.
float()	Casts all floating point parameters and buffers to float datatype.
forward(state, weight, **data)	Apply the conditional resampler.
get_buffer(target)	Return the buffer given by target if it exists, otherwise throw an error.
get_extra_state()	Return any extra state to include in the module's state_dict.
get_parameter(target)	Return the parameter given by target if it exists, otherwise throw an error.
get_submodule(target)	Return the submodule given by target if it exists, otherwise throw an error.
half()	Casts all floating point parameters and buffers to half datatype.
ipu([device])	Move all model parameters and buffers to the IPU.
load_state_dict(state_dict[, strict, assign])	Copy parameters and buffers from state_dict into this module and its descendants.
modules([remove_duplicate])	Return an iterator over all modules in the network.
mtia([device])	Move all model parameters and buffers to the MTIA.
named_buffers([prefix, recurse, ...])	Return an iterator over module buffers, yielding both the name of the buffer as well as the buffer itself.
named_children()	Return an iterator over immediate children modules, yielding both the name of the module as well as the module itself.
named_modules([memo, prefix, remove_duplicate])	Return an iterator over all modules in the network, yielding both the name of the module as well as the module itself.
named_parameters([prefix, recurse, ...])	Return an iterator over module parameters, yielding both the name of the parameter as well as the parameter itself.
parameters([recurse])	Return an iterator over module parameters.
register_backward_hook(hook)	Register a backward hook on the module.
register_buffer(name, tensor[, persistent])	Add a buffer to the module.
register_forward_hook(hook, *[, prepend, ...])	Register a forward hook on the module.
register_forward_pre_hook(hook, *[, ...])	Register a forward pre-hook on the module.
register_full_backward_hook(hook[, prepend])	Register a backward hook on the module.
register_full_backward_pre_hook(hook[, prepend])	Register a backward pre-hook on the module.
register_load_state_dict_post_hook(hook)	Register a post-hook to be run after module's load_state_dict() is called.
register_load_state_dict_pre_hook(hook)	Register a pre-hook to be run before module's load_state_dict() is called.
register_module(name, module)	Alias for add_module().
register_parameter(name, param)	Add a parameter to the module.
register_state_dict_post_hook(hook)	Register a post-hook for the state_dict() method.
register_state_dict_pre_hook(hook)	Register a pre-hook for the state_dict() method.
requires_grad_([requires_grad])	Change if autograd should record operations on parameters in this module.
set_extra_state(state)	Set extra state contained in the loaded state_dict.
set_submodule(target, module[, strict])	Set the submodule given by target if it exists, otherwise throw an error.
share_memory()	See torch.Tensor.share_memory_().
state_dict(*args[, destination, prefix, ...])	Return a dictionary containing references to the whole state of the module.
to(*args, **kwargs)	Move and/or cast the parameters and buffers.
to_empty(*, device[, recurse])	Move the parameters and buffers to the specified device without copying storage.
train([mode])	Set the module in training mode.
type(dst_type)	Casts all parameters and buffers to dst_type.
update()	Update all constrained_parameters and cached_properties belonging to this Module.
xpu([device])	Move all model parameters and buffers to the XPU.
zero_grad([set_to_none])	Reset gradients of all model parameters.

Attributes

T_destination
call_super_init
dump_patches
training

forward(state: Tensor, weight: Tensor, **data) → tuple[Tensor, Tensor]

Apply the conditional resampler.

Parameters:

state: Tensor

The particle state

weight: Tensor

The particle weight

data: dict[str, Tensor]

The remaining data categories

Returns:

resampled_state: Tensor

The conditionally resampled state.

resampled_weight: Tensor

The conditionally resampled weight.