Multifidelity models integrate data from multiple sources to produce a single approximator for the underlying process. Dense low-fidelity samples are used to reduce interpolation error, while sparse high-fidelity samples are used to compensate for bias or noise in the low-fidelity samples. Deep Gaussian processes (GPs) are attractive for multifidelity modelling as they are non-parametric, robust to overfitting, perform well for small datasets, and, critically, can capture nonlinear and input-dependent relationships between data of different fidelities. Many datasets naturally contain gradient data, especially when they are generated by computational models that are compatible with automatic differentiation or have adjoint solutions. Principally, this work extends deep GPs to incorporate gradient data. We demonstrate this method on an analytical test problem and a realistic partial differential equation problem, where we predict the aerodynamic coefficients of a hypersonic flight vehicle over a range of flight conditions and geometries. In both examples, the gradient-enhanced deep GP outperforms a gradient-enhanced linear GP model and their non-gradient-enhanced counterparts.

In general, low-fidelity data is easier to obtain in greater quantities, but it may be too inaccurate or not dense enough to accurately train a machine learning model. High-fidelity data is costly to obtain, so there may not be sufficient data to use in training, however, it is more accurate. A small amount of high fidelity data, such as from measurements, combined with low fidelity data, can improve predictions when used together; this has motivated geophysicists to develop cokriging [1], which is based on Gaussian process regression at two different fidelity levels by exploiting correlations-albeit only linear ones - between different levels. An example of cokriging for obtaining the sea surface temperature (as well as the associated uncertainty) is presented in [2], where satellite images are used as low-fidelity data whereas in situ measurements are used as high-fidelity data. To exploit nonlinear correlations at different levels of fidelity, a probabilistic framework based on Gaussian process regression and nonlinear autoregressive scheme was proposed in [3] that can learn complex nonlinear and space-dependent cross-correlations between multifidelity models. However, the limitation of this work is the high computational cost for big data sets, and to this end, the subsequent work in [4] was based on neural networks and provided the first method of multifidelity training of deep neural networks.

We introduce a novel continual learning method based on multifidelity deep neural networks. This method learns the correlation between the output of previously trained models and the desired output of the model on the current training dataset, limiting catastrophic forgetting. On its own the multifidelity continual learning method shows robust results that limit forgetting across several datasets. Additionally, we show that the multifidelity method can be combined with existing continual learning methods, including replay and memory aware synapses, to further limit catastrophic forgetting. The proposed continual learning method is especially suited for physical problems where the data satisfy the same physical laws on each domain, or for physics-informed neural networks, because in these cases we expect there to be a strong correlation between the output of the previous model and the model on the current training domain.

Traditional methods for black box optimization require a considerable number of evaluations which can be time consuming, unpractical, and often unfeasible for many engineering applications that rely on accurate representations and expensive models to evaluate. Bayesian Optimization (BO) methods search for the global optimum by progressively (actively) learning a surrogate model of the objective function along the search path. Bayesian optimization can be accelerated through multifidelity approaches which leverage multiple black-box approximations of the objective functions that can be computationally cheaper to evaluate, but still provide relevant information to the search task. Further computational benefits are offered by the availability of parallel and distributed computing architectures whose optimal usage is an open opportunity within the context of active learning. This paper introduces the Resource Aware Active Learning (RAAL) strategy, a multifidelity Bayesian scheme to accelerate the optimization of black box functions. At each optimization step, the RAAL procedure computes the set of best sample locations and the associated fidelity sources that maximize the information gain to acquire during the parallel/distributed evaluation of the objective function, while accounting for the limited computational budget. The scheme is demonstrated for a variety of benchmark problems and results are discussed for both single fidelity and multifidelity settings. In particular we observe that the RAAL strategy optimally seeds multiple points at each iteration allowing for a major speed up of the optimization task.