  We investigate the merits of replication, and provide methods for optimal
design (including replicates), with the goal of obtaining globally accurate
emulation of noisy computer simulation experiments. We first show that
replication can be beneficial from both design and computational perspectives,
in the context of Gaussian process surrogate modeling. We then develop a
lookahead based sequential design scheme that can determine if a new run should
be at an existing input location (i.e., replicate) or at a new one (explore).
When paired with a newly developed heteroskedastic Gaussian process model, our
dynamic design scheme facilitates learning of signal and noise relationships
which can vary throughout the input space. We show that it does so efficiently,
on both computational and statistical grounds. In addition to illustrative
synthetic examples, we demonstrate performance on two challenging real-data
simulation experiments, from inventory management and epidemiology.
