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Last active December 11, 2025 21:00
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Distributed Bayesian Optimization Framework for Robotics - System Design

Distributed Bayesian Optimization & Cognitive Modeling Framework

Note: This gist outlines architectural patterns and infrastructure used for research. Source code and proprietary datasets are excluded per lab data policy.

Technical Highlights

Reinforcement Learning Environment

  • Gymnasium Wrappers: Custom observation-based environments with flexible state transitions for cognitive task modeling.
  • Configurable Rewards: Decoupled reward structure from environment logic to allow rapid iteration on task definitions.

Parameter Optimization

  • Gradient-Free Search: Integrated PyBADS (Bayesian Adaptive Direct Search) for optimizing agents in non-differentiable landscapes.
  • Posterior Estimation: Uses PyVBMC for model comparison and uncertainty quantification.
  • Flexible Fitting Pipeline: Supports hot-swapping model architectures and initialization strategies without rewriting the optimization loop.

HPC Infrastructure

  • Slurm Integration: Automated job dispatching via submitit. Handles job arrays, timeouts, and requeuing logic.
  • Massive Parallelism: Scales fitting procedures across hundreds of CPUs concurrently.

Data Pipeline

  • Heterogeneous Ingestion: Pandas-based normalization for complex time-series data (behavioral and neuroimaging).
  • Serialization: Optimized I/O for rapid iterative testing of model hypotheses.

Tech Stack

  • Core: Python, NumPy, Pandas
  • RL: Gymnasium
  • Optimization: PyBADS, PyVBMC
  • Infra: Slurm, Submitit
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