We define the optimal proposal distribution as the one that minimizes the variance of the estimator of the Probability of Failure. Sadly, the best proposal distributions is…

\begin{equation} q^{*}\left(\tau\right) = \frac{p\left(\tau\right) 1\left\{\tau \not \in \psi\right\}}{p_{\text{fail}}} = \frac{p\left(\tau\right) 1\left\{\tau \not \in \psi\right\}}{\int 1 \left\{\tau \not\in \psi\right\} p\left(\tau\right) \dd{\tau }} \end{equation}

but wait this is just the Failure Distribution! But our entire point is trying to estimate p_{\text{fail}}. notice that this is exactly the DEFINITION OF THE FAILURE DISTRIBUTION. et, we were trying to estimate p_{\text{fail}} in the first place? Recall; we are able to sample from the Failure Distribution, fit a model and nice. Yet, this brings two challenges sampling from Failure Distribution is quite hard it maybe difficult to produce a good fit with higher dimensional systems see adaptive cross entropy method with adaptive importance sampling population monte-carlo what if you are doing multiple importance sampling and so you need a whole bunch of proposals? let’s just keep around a bunch of proposals select an initial populating of proposals draw a sample from each proposal compute the importance weight for each sample resample based on importance weights create new proposal distribution centered at the samples—perhaps with constant variance

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