Sparse tensor algebra computations are often memory-bound due to irregular access patterns and low arithmetic intensity.We present D2T2 (Data-Driven Tensor Tiling), a framework that optimizes static coordinate-space tiling schemes to minimize memory traffic by identifying and leveraging relevant high-level statistics from input operands.For a given tensor algebra computation, D2T2 collects statistics from input tensors, builds a probability distribution-based model of the tensor computation, and uses it to predict traffic for various tiling configurations.It searches over tile shape and size configurations to minimize total traffic.We evaluate D2T2 against Tailors and DRT, two state of the art tiling schemes for sparse tensor algebra.We find that D2T2 achieves, on average, a 2.54× speedup over Tailors and a 1.13× lower memory bandwidth compared to DRT for sparse-sparse matrix multiplication (SpMSpM).We also achieve 1.22-48.94×lower bandwidth for SpMSpM and up to 34.31× lower bandwidth for tensor operations (TTM and MTTKRP) than conservative static tiling schemes.Unlike prior tiling techniques, D2T2 is deployable without specialized hardware support.On Opal, a 16nm sparse tensor algebra accelerator, D2T2 generated tiling configurations that achieve 1.23-3.34×speedups compared to their original hand-tuned configurations.

Motion planning is a computationally intensive and well-studied problem in autonomous robots. However, motion planning hardware accelerators (MPA) must be soft-error resilient for deployment in safety-critical applications, and blanket application of traditional mitigation techniques is ill suited due to cost, power, and performance overheads. We propose Collision Exposure Factor (CEF), a novel metric to assess the failure vulnerability of circuits processing spatial relationships, including motion planning. CEF is based on the insight that the safety violation probability increases with the surface area of the physical space exposed by a bit-flip. We evaluate CEF on four MPAs. We demonstrate empirically that CEF is correlated with safety violation probability and that CEF-aware selective error mitigation provides 12.3×, 9.6×, and 4.2× lower dangerous Failures-In-Time rate on average for the same amount of protected memory compared to uniform, bit-position, and access-frequency-aware selection of critical data. Furthermore, we show how to employ CEF to enable fault characterization using 23,000× fewer fault injection (FI) experiments than exhaustive FI and evaluate our FI approach on different robots and MPAs. We demonstrate that CEF-aware FI can provide insights on vulnerable bits in an MPA while taking the same amount of time as uniform statistical FI. Finally, we use the CEF to formulate guidelines for designing soft-error resilient MPAs.

Sparse tensor algebra is a challenging class of workloads to accelerate due to low arithmetic intensity and varying sparsity patterns. Prior sparse tensor algebra accelerators have explored tiling sparse data to increase exploitable data reuse and improve throughput, but typically allocate tile size in a given buffer for the worst-case data occupancy. This severely limits the utilization of available memory resources and reduces data reuse. Other accelerators employ complex tiling during preprocessing or at runtime to determine the exact tile size based on its occupancy.

Massive deployment of Graph Neural Networks (GNNs) in high-stake applications generates a strong demand for explanations that are robust to noise and align well with human intuition. Most existing methods generate explanations by identifying a subgraph of an input graph that has a strong correlation with the prediction. These explanations are not robust to noise because independently optimizing the correlation for a single input can easily overfit noise. Moreover, they are not counterfactual because removing an identified subgraph from an input graph does not necessarily change the prediction result. In this paper, we propose a novel method to generate robust counterfactual explanations on GNNs by explicitly modelling the common decision logic of GNNs on similar input graphs. Our explanations are naturally robust to noise because they are produced from the common decision boundaries of a GNN that govern the predictions of many similar input graphs. The explanations are also counterfactual because removing the set of edges identified by an explanation from the input graph changes the prediction significantly. Exhaustive experiments on many public datasets demonstrate the superior performance of our method.