Autonomous vehicles (AVs) must drive across a variety of challenging environments that impose continuously-varying deadlines and runtime-accuracy tradeoffs on their software pipelines. A deadline-driven execution of such AV pipelines requires a new class of systems that enable the computation to maximize accuracy under dynamically-varying deadlines. Designing these systems presents interesting challenges that arise from combining ease-of-development of AV pipelines with deadline specification and enforcement mechanisms.

Data processing applications often combine computations with disparate fault-tolerance requirements. For example, batch computations prioritize throughput over recovery latency, and can tolerate recovery delays of up to several minutes, while streaming computations expect recovery latencies of at most a few seconds. However, state-of-the-art data systems each offer a single fault-tolerance regime, so complex applications either: (i) suffer performance degradation in steady state and during recovery due to the poor fit of the fault-tolerance regime for parts of the applications, or (ii) are difficult to maintain because they are developed using fragile combinations of batch and streaming systems that provide different APIs and schedulers, and evolve independently.

We present Pylot, a platform for autonomous vehicle (AV) research and development, built with the goal to allow researchers to study the effects of the latency and accuracy of their models and algorithms on the end-to-end driving behavior of an AV. This is achieved through a modular structure enabled by our high-performance dataflow system that represents AV software pipeline components (object detectors, motion planners, etc.) as a dataflow graph of operators which communicate on data streams using timestamped messages. Pylot readily interfaces with popular AV simulators like CARLA, and is easily deployable to real-world vehicles with minimal code changes. To reduce the burden of developing an entire pipeline for evaluating a single component, Pylot provides several state-of-the-art reference implementations for the various components of an AV pipeline. Using these reference implementations, a Pylot-based AV pipeline is able to drive a real vehicle, and attains a high score on the CARLA Autonomous Driving Challenge. We also present several case studies enabled by Pylot, including evidence of a need for context-dependent components, and per-component time allocation. Pylot is open source, with the code available at https://github.com/erdos-project/pylot.

Many systems for the parallel processing of big data are available today. Yet, few users can tell by intuition which system, or combination of systems, is "best" for a given workflow. Porting workflows between systems is tedious. Hence, users become "locked in", despite faster or more efficient systems being available. This is a direct consequence of the tight coupling between user-facing front-ends that express workflows (e.g., Hive, SparkSQL, Lindi, GraphLINQ) and the back-end execution engines that run them (e.g., MapReduce, Spark, PowerGraph, Naiad).