
TL;DR
This paper introduces a matrix-free approach to efficiently compute Jacobians in large-scale simulations by reformulating the matrix chain product problem, leveraging algorithmic differentiation and limited memory techniques.
Contribution
It presents a novel matrix-free Jacobian chaining method that reduces memory usage and improves efficiency in large-scale modular simulations.
Findings
Open-source implementation available for reproducibility
Significant memory savings demonstrated in numerical experiments
Applicable to large-scale scientific computing problems
Abstract
The efficient computation of Jacobians represents a fundamental challenge in computational science and engineering. Large-scale modular numerical simulation programs can be regarded as sequences of evaluations of in our case differentiable subprograms with corresponding elemental Jacobians. The latter are typically not available. Tangent and adjoint versions of the individual subprograms are assumed to be given as results of algorithmic differentiation instead. The classical (Jacobian) Matrix Chain Product problem is reformulated in terms of matrix-free Jacobian-matrix (tangents) and matrix-Jacobian products (adjoints), subject to limited memory for storing information required by latter. All numerical results can be reproduced using an open-source reference implementation.
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsRobotic Mechanisms and Dynamics · Dynamics and Control of Mechanical Systems · Geometric and Algebraic Topology
