Video generation has been advancing rapidly, and diffusion transformer (DiT) based models have demonstrated remarkable capabilities. However, their practical deployment is often hindered by slow inference speeds and high memory consumption. In this paper, we propose a novel pipelining framework named PipeDiT to accelerate video generation, which is equipped with three main innovations. First, we design a pipelining algorithm (PipeSP) for sequence parallelism (SP) to enable the computation of latent generation and communication among multiple GPUs to be pipelined, thus reducing the inference latency. Second, we propose DeDiVAE to decouple the diffusion module and the VAE module into two GPU groups whose executions can also be pipelined to reduce the memory consumption and inference latency. Third, to better utilize the GPU resources in the VAE group, we propose an attention co-processing (Aco) method to further reduce the overall video generation latency. We integrate our PipeDiT into both OpenSoraPlan and HunyuanVideo, two state-of-the-art open-source video generation frameworks, and conduct extensive experiments on two 8-GPU systems. Experimental results show that, under many common resolution and timestep configurations, our PipeDiT achieves 1.06× to 4.02× speedups over OpenSoraPlan and HunyuanVideo.

Adapting large pre-trained language models to downstream tasks often entails fine-tuning millions of parameters or deploying costly dense weight updates, which hinders their use in resource-constrained environments. Low-rank Adaptation (LoRA) reduces trainable parameters by factorizing weight updates, yet the underlying dense weights still impose high storage and computation costs. Magnitude-based pruning can yield sparse models but typically degrades LoRA’s performance when applied naively. In this paper, we introduce SALR (Sparsity-Aware Low-Rank Representation), a novel fine-tuning paradigm that unifies low-rank adaptation with sparse pruning under a rigorous mean-squared-error framework. We prove that statically pruning only the frozen base weights minimizes the pruning error bound, and we recover the discarded residual information via a truncated-SVD low-rank adapter, which provably reduces per-entry MSE by a factor of (1 - r/min(d, k)). To maximize hardware efficiency, we fuse multiple low-rank adapters into a single concatenated GEMM, and we adopt a bitmap-based encoding with a two-stage pipelined decoding + GEMM design to achieve true model compression and speedup. Empirically, SALR attains 50% sparsity on various LLMs while matching the performance of LoRA on GSM8K and MMLU, reduces model size by 2x, and delivers up to a 1.7x inference speedup.

Lossless model compression holds tremendous promise for alleviating the memory and bandwidth bottlenecks in bitexact Large Language Model (LLM) serving. However, existing approaches often result in substantial inference slowdowns due to fundamental design mismatches with GPU architectures: at the kernel level, variable-length bitstreams produced by traditional entropy codecs break SIMT parallelism; at the system level, decoupled pipelines lead to redundant memory traffic. We present ZipServ, a lossless compression framework co-designed for efficient LLM inference. ZipServ introduces Tensor-Core-Aware Triple Bitmap Encoding (TCA-TBE), a novel fixed-length format that enables constant-time, parallel decoding, together with a fused decompression-GEMM (ZipGEMM) kernel that decompresses weights on-the-fly directly into Tensor Core registers. This "load-compressed, compute-decompressed" design eliminates intermediate buffers and maximizes compute intensity. Experiments show that ZipServ reduces the model size by up to 30%, achieves up to 2.21× kernel-level speedup over NVIDIA’s cuBLAS, and expedites end-to-end inference by an average of 1.22× over vLLM. ZipServ is the first lossless compression system that provides both storage savings and substantial acceleration for LLM inference on GPUs.

All-Pairs Shortest Path (APSP), a fundamental problem in graph analytics, can be solved efficiently by reducing the computational workload through vertex reordering. However, it fails on GPUs due to fine-grained granularity, shape, and dependency irregularities, which cause severe hardware underutilization. We introduce ROME, a system that tames these irregularities by spatially restructuring computation into regularized workloads and temporally overlapping them with an asynchronous pipeline. ROME achieves 14.7-244.5× speedup over the state-of-the-art multicore CPU solution and 11.2-338.0× speedup over the state-of-the-art GPU solution. Notably, our results achieve mostly above 20% and up to 34.7% of peak min-plus OPs across all tested graphs.

Deep learning (DL) has achieved significant success across a wide range of domains, prompting the widespread deployment of GPU clusters equipped with specialized accelerators to support high-performance training workloads. To minimize operational costs while maximizing resource utilization, efficient job scheduling in these clusters is essential. Although recent schedulers have improved cluster efficiency through periodic reallocation or selection of GPU resources, they still face challenges such as preemption and migration overheads, along with the risk of degrading model accuracy. Despite these limitations, the potential of GPUsharing remains largely underexplored. Few existing studies have systematically examined GPU sharing as a strategy to enhance resource utilization and reduce job queuing delays in multi-tenant DL clusters. Motivated by these insights, we propose a job scheduling model that enables multiple jobs to share the same set of GPUs without modifying their original training configurations. We introduce Castor, a simple yet efficient scheduling system, to achieve intelligent GPU colocation for multiple DL jobs. Castor intelligently selects job pairs for GPU sharing and determines runtime parameters (sub-batch size and scheduling time point) to optimize overall system performance while preserving the accuracy of DL convergence through gradient accumulation. Through a combination of physical DL workloads and trace-driven simulations across various configurations, we demonstrate that Castor reduces average job completion time by 26–52% compared to state-of-the-art preemptive DL schedulers, despite operating under a preemption-free policy. Furthermore, Castor effectively identifies optimal resource-sharing configurations, outperforming the baseline first-fit sharing policy (SJF-FFS) by up to 20% on large-scale workload traces.

Due to the rapid development of panorama cameras, the task of estimating panorama depth has attracted significant attention from the computer vision community, especially in applications such as robot sensing and autonomous driving. However, existing methods relying on different projection formats often encounter challenges, either struggling with distortion and discontinuity in the case of equirectangular, cubemap, and tangent projections, or experiencing a loss of texture details with the spherical projection. To tackle these concerns, we present SphereFusion, an end-toend framework that combines the strengths of various projection methods. Specifically, SphereFusion initially employs$2 D$image convolution and mesh operations to extract two distinct types of features from the panorama image in both equirectangular and spherical projection domains. These features are then projected onto the spherical domain, where a gate fusion module selects the most reliable features for fusion. Finally, SphereFusion estimates panorama depth within the spherical domain. Meanwhile, SphereFusion employs a cache strategy to improve the efficiency of mesh operation. Extensive experiments on three public panorama datasets demonstrate that SphereFusion achieves competitive results with other state-of-theart methods, while presenting the fastest inference speed at only 17 ms on a$512 \times 1024$panorama image.

Recent advancements in Zero-shot Neural Architecture Search (NAS) highlight the ability of zero-cost proxies in identifying superior architecture. However, we identify a critical issue with current zero-cost proxies: they aggregate node-wise zero-cost statistics without considering that not all nodes in a neural network equally impact performance estimation. Our observations reveal that node-wise zero-cost statistics significantly vary in their contributions to performance, with each node exhibiting a degree of uncertainty. Based on this insight, we introduce a novel method called Parametric Zero-Cost Proxies (ParZC) framework to enhance the adaptability of zero-cost proxies through parameterization. To address the node indiscrimination, we propose a Mixer Architecture with Bayesian Network (MABN) to explore the node-wise zero-cost statistics and estimate node-specific uncertainty. Moreover, we propose DiffKendall as a loss function to improve ranking consistency. Comprehensive experiments on NAS-Bench-101, 201, and NDS demonstrate the superiority of our proposed ParZC compared to existing zero-shot NAS methods. Additionally, we demonstrate the versatility and adaptability of ParZC on Vision Transformer search space.

Large Language Models (LLMs) have demonstrated remarkable capabilities, but their immense scale poses significant challenges in terms of both memory and computational costs. While unstructured pruning offers promising solutions by introducing sparsity to reduce resource requirements, realizing its benefits in LLM inference remains elusive. This is primarily due to the storage overhead of indexing non-zero elements and the inefficiency of sparse matrix multiplication (SpMM) kernels at low sparsity levels (around 50%). In this paper, we present SpInfer, a high-performance framework tailored for sparsified LLM inference on GPUs. SpInfer introduces Tensor-Core-Aware Bitmap Encoding (TCA-BME), a novel sparse format that minimizes indexing overhead by leveraging efficient bitmap-based indexing, optimized for GPU Tensor Core architectures. Furthermore, SpInfer integrates an optimized SpMM kernel with Shared Memory Bitmap Decoding (SMBD) and asynchronous pipeline design to enhance computational efficiency. Experimental results show that SpInfer significantly outperforms state-of-the-art SpMM implementations (up to 2.14× and 2.27× over Flash-LLM and SparTA, respectively) across a range of sparsity levels (30% to 70%), with substantial improvements in both memory efficiency and end-to-end inference speed (up to 1.58×). SpInfer outperforms highly optimized cuBLAS at sparsity levels as low as 30%, marking the first effective translation of unstructured pruning's theoretical advantages into practical performance gains for LLM inference.

In this paper, we present the first structural binarization method for LLM compression to less than 1-bit precision. Although LLMs have achieved remarkable performance, their memory-bound nature during the inference stage hinders the adoption of resource-constrained devices. Reducing weights to 1-bit precision through binarization substantially enhances computational efficiency. We observe that randomly flipping some weights in binarized LLMs does not significantly degrade the model's performance, suggesting the potential for further compression. To exploit this, our STBLLM employs an N:M sparsity technique to achieve structural binarization of the weights. Specifically, we introduce a novel Standardized Importance (SI) metric, which considers weight magnitude and input feature norm to more accurately assess weight significance. Then, we propose a layer-wise approach, allowing different layers of the LLM to be sparsified with varying N:M ratios, thereby balancing compression and accuracy. Furthermore, we implement a fine-grained grouping strategy for less important weights, applying distinct quantization schemes to sparse, intermediate, and dense regions. Finally, we design a specialized CUDA kernel to support structural binarization. We conduct extensive experiments on LLaMA, OPT, and Mistral family. STBLLM achieves a perplexity of 11.07 at 0.55 bits per weight, outperforming the BiLLM by 3×. The results demonstrate that our approach performs better than other compressed binarization LLM methods while significantly reducing memory requirements. Code is released at https://github.com/pprp/STBLLM.

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to address this issue by introducing external constraints but fall short of achieving satisfactory accuracy, particularly when camera trajectories are complex. In this paper, we propose a novel method, RA-NeRF, capable of predicting highly accurate camera poses even with complex camera trajectories. Following the incremental pipeline, RA-NeRF reconstructs the scene using NeRF with photometric consistency and incorporates flow-driven pose regulation to enhance robustness during initialization and localization. Additionally, RA-NeRF employs an implicit pose filter to capture the camera movement pattern and eliminate the noise for pose estimation. To validate our method, we conduct extensive experiments on the Tanks&Temple dataset for standard evaluation, as well as the NeRFBuster dataset, which presents challenging camera pose trajectories. On both datasets, RA-NeRF achieves state-of-the-art results in both camera pose estimation and visual quality, demonstrating its effectiveness and robustness in scene reconstruction under complex pose trajectories.

Despite efforts to improve the quality of service (QoS) and throughput in Large Language Model (LLM) serving systems, progress is often limited by the lack of publicly available real-world workloads.Consequently, evaluations usually depend on synthetic or oversimplified load patterns, and systems that appear promising in testing frequently underperform once deployed.This work presents BurstGPT, an LLM serving workload with 10.31 million traces from regional Azure OpenAI GPT services * Both authors contributed equally to this research.

Scene understanding enables intelligent agents to interpret and comprehend their environment. While existing large vision-language models (LVLMs) for scene understanding have primarily focused on indoor household tasks, they face two significant limitations when applied to outdoor large-scale scene understanding. First, outdoor scenarios typically encompass larger-scale environments observed through various sensors from multiple viewpoints (e.g., bird view and terrestrial view), while existing indoor LVLMs mainly analyze single visual modalities within building-scale contexts from humanoid viewpoints. Second, existing LVLMs suffer from missing multidomain perception outdoor data and struggle to effectively integrate 2D and 3D visual information. To address the aforementioned limitations, we build the first multidomain perception outdoor scene understanding dataset, named SVM-City, deriving from multi-Scale scenarios with multi-View and multi-Modal instruction tuning data. It contains 420k images and 4, 811M point clouds with 567k question-answering pairs from vehicles, low-altitude drones, high-altitude aerial planes, and satellite. To effectively fuse multimodal data in the absence of one modality, we introduce incomplete multimodal learning to model outdoor scene understanding and design the LVLM named City-VLM. Multimodal fusion is realized by constructed as a joint probabilistic distribution space rather than implementing directly explicit fusion operations (e.g., concatenation). Experimental results on three typical outdoor scene understanding tasks show City-VLM achieves 18.14 % performance surpassing existing LVLMs in question-answering tasks averagely. Our method demonstrates pragmatic and generalization performance across multiple outdoor scenes.

The rapid adoption of Large Language Models (LLMs) in cloud environments has intensified the demand for high-performance AI training and inference, where Remote Direct Memory Access (RDMA) plays a critical role. However, existing RDMA virtualization solutions, such as Single-Root Input/Output Virtualization (SR-IOV), face significant limitations in scalability, performance, and stability. These issues include lengthy container initialization times, hardware resource constraints, and inefficient traffic steering. To address these challenges, we propose Stellar, a new generation RDMA network for cloud AI. Stellar introduces three key innovations: Para-Virtualized Direct Memory Access (PVDMA) for on-demand memory pinning, extended Memory Translation Table (eMTT) for optimized GPU Direct RDMA (GDR) performance, and RDMA Packet Spray for efficient multi-path utilization. Deployed in our large-scale AI clusters, Stellar spins up virtual devices in seconds, reduces container initialization time by 15 times, and improves LLM training speed by up to 14%. Our evaluations demonstrate that Stellar significantly outperforms existing solutions, offering a scalable, stable, and high-performance RDMA network for cloud AI.

Neural Radiance Fields have demonstrated impressive performance in novel view synthesis. However, NeRF and most of its variants still rely on traditional complex pipelines to provide extrinsic and intrinsic camera parameters, such as COLMAP. Recent works, like NeRFmm, BARF, and L2G-NeRF, directly treat camera parameters as learnable and estimate them through differential volume rendering. However, these methods work for forward-looking scenes with slight motions and fail to tackle the rotation scenario in practice. To overcome this limitation, we propose a novel camera parameter free neural radiance field (CF-NeRF), which incrementally reconstructs 3D representations and recovers the camera parameters inspired by incremental structure from motion. Given a sequence of images, CF-NeRF estimates camera parameters of images one by one and reconstructs the scene through initialization, implicit localization, and implicit optimization. To evaluate our method, we use a challenging real-world dataset, NeRFBuster, which provides 12 scenes under complex trajectories. Results demonstrate that CF-NeRF is robust to rotation and achieves state-of-the-art results without providing prior information and constraints.

In recent years, large-scale models can be easily scaled to trillions of parameters with sparsely activated mixture-of-experts (MoE), which significantly improves the model quality while only requiring a sub-linear increase in computational costs. However, MoE layers require the input data to be dynamically routed to a particular GPU for computing during distributed training. The highly dynamic property of data routing and high communication costs in MoE make the training system low scaling efficiency on GPU clusters. In this work, we propose an extensible and efficient MoE training system, ScheMoE, which is equipped with several features. 1) ScheMoE provides a generic scheduling framework that allows the communication and computation tasks in training MoE models to be scheduled in an optimal way. 2) ScheMoE integrates our proposed novel all-to-all collective which better utilizes intra- and inter-connect bandwidths. 3) ScheMoE supports easy extensions of customized all-to-all collectives and data compression approaches while enjoying our scheduling algorithm. Extensive experiments are conducted on a 32-GPU cluster and the results show that ScheMoE outperforms existing state-of-the-art MoE systems, Tutel and Faster-MoE, by 9%-30%.

Despite the remarkable capabilities, Large Language Models (LLMs) face deployment challenges due to their extensive size. Pruning methods drop a subset of weights to accelerate, but many of them require retraining, which is prohibitively expensive and computationally demanding. Recently, post-training pruning approaches introduced novel metrics, enabling the pruning of LLMs without retraining. However, these metrics require the involvement of human experts and tedious trial and error. To efficiently identify superior pruning metrics, we develop an automatic framework for searching symbolic pruning metrics using genetic programming. In particular, we devise an elaborate search space encompassing the existing pruning metrics to discover the potential symbolic pruning metric. We propose an opposing operation simplification strategy to increase the diversity of the population. In this way, Pruner-Zero allows auto-generation of symbolic pruning metrics. Based on the searched results, we explore the correlation between pruning metrics and performance after pruning and summarize some principles. Extensive experiments on LLaMA and LLaMA-2 on language modeling and zero-shot tasks demonstrate that our Pruner-Zero obtains superior performance than SOTA post-training pruning methods. Code at: https://github.com/pprp/Pruner-Zero.

Graphics processing units (GPUs) are continually evolving to cater to the computational demands of contemporary general-purpose workloads, particularly those driven by artificial intelligence (AI) utilizing deep learning techniques. A substantial body of studies have been dedicated to dissecting the microarchitectural metrics characterizing diverse GPU generations, which helps researchers understand the hardware details and leverage them to optimize the GPU programs. However, the latest Hopper GPUs present a set of novel attributes, including new tensor cores supporting FP8, DPX, and distributed shared memory. Their details still remain mysterious in terms of performance and operational characteristics. In this research, we propose an extensive benchmarking study focused on the Hopper GPU. The objective is to unveil its microarchitectural intricacies through an examination of the new instruction-set architecture (ISA) of Nvidia GPUs and the utilization of new CUDA APIs. Our approach involves two main aspects. Firstly, we conduct conventional latency and throughput comparison benchmarks across the three most recent GPU architectures, namely Hopper, Ada, and Ampere. Secondly, we delve into a comprehensive discussion and benchmarking of the latest Hopper features, encompassing the Hopper DPX dynamic programming (DP) instruction set, distributed shared memory, and the availability of FP8 tensor cores. The microbenchmarking results we present offer a deeper understanding of the novel GPU AI function units and programming features introduced by the Hopper architecture. This newfound understanding is expected to greatly facilitate software optimization and modeling efforts for GPU architectures. To the best of our knowledge, this study makes the first attempt to demystify the tensor core performance and programming instruction sets unique to Hopper GPUs.

Deep learning (DL) has demonstrated significant success across diverse fields, leading to the construction of dedicated GPU accelerators within GPU clusters for high-quality training services. Efficient scheduler designs for such clusters are vital to reduce operational costs and enhance resource utilization. While recent schedulers have shown impressive performance in optimizing DL job performance and cluster utilization through periodic reallocation or selection of GPU resources, they also encounter challenges such as preemption and migration overhead, along with potential DL accuracy degradation. Nonetheless, few explore the potential benefits of GPU sharing to improve resource utilization and reduce job queuing times.Motivated by these insights, we present a job scheduling model allowing multiple jobs to share the same set of GPUs without altering job training settings. We introduce SJF-BSBF (shortest job first with best sharing benefit first), a straightforward yet effective heuristic scheduling algorithm. SJF-BSBF intelligently selects job pairs for GPU resource sharing and runtime settings (sub-batch size and scheduling time point) to optimize overall performance while ensuring DL convergence accuracy through gradient accumulation. In experiments with both physical DL workloads and trace-driven simulations, even as a preemptionfree policy, SJF-BSBF reduces the average job completion time by 27-33% relative to the state-of-the-art preemptive DL schedulers. Moreover, SJF-BSBF can wisely determine the optimal resource sharing settings, such as the sharing time point and sub-batch size for gradient accumulation, outperforming the aggressive GPU sharing approach (baseline SJF-FFS policy) by up to 17% in large-scale traces.

3D multimodal question answering (MQA) plays a crucial role in scene understanding by enabling intelligent agents to comprehend their surroundings in 3D environments. While existing research has primarily focused on indoor household tasks and outdoor roadside autonomous driving tasks, there has been limited exploration of city-level scene understanding tasks. Furthermore, existing research faces challenges in understanding city scenes, due to the absence of spatial semantic information and human-environment interaction information at the city level.To address these challenges, we investigate 3D MQA from both dataset and method perspectives. From the dataset perspective, we introduce a novel 3D MQA dataset named City-3DQA for city-level scene understanding, which is the first dataset to incorporate scene semantic and human-environment interactive tasks within the city. From the method perspective, we propose a Scene graph enhanced City-level Understanding method (Sg-CityU), which utilizes the scene graph to introduce the spatial semantic. A new benchmark is reported and our proposed Sg-CityU achieves accuracy of 63.94 % and 63.76 % in different settings of City-3DQA. Compared to indoor 3D MQA methods and zero-shot using advanced large language models (LLMs), Sg-CityU demonstrates state-of-the-art (SOTA) performance in robustness and generalization.

In this paper, we present DSA, the first automated framework for discovering sparsity allocation schemes for layer-wise pruning in Large Language Models (LLMs). LLMs have become increasingly powerful, but their large parameter counts make them computationally expensive. Existing pruning methods for compressing LLMs primarily focus on evaluating redundancies and removing element-wise weights. However, these methods fail to allocate adaptive layer-wise sparsities, leading to performance degradation in challenging tasks. We observe that per-layer importance statistics can serve as allocation indications, but their effectiveness depends on the allocation function between layers. To address this issue, we develop an expression discovery framework to explore potential allocation strategies. Our allocation functions involve two steps: reducing element-wise metrics to per-layer importance scores, and modelling layer importance to sparsity ratios. To search for the most effective allocation function, we construct a search space consisting of pre-process, reduction, transform, and post-process operations. We leverage an evolutionary algorithm to perform crossover and mutation on superior candidates within the population, guided by performance evaluation. Finally, we seamlessly integrate our discovered functions into various uniform methods, resulting in significant performance improvements. We conduct extensive experiments on multiple challenging tasks such as arithmetic, knowledge reasoning, and multimodal benchmarks spanning GSM8K, MMLU, SQA, and VQA, demonstrating that our DSA method achieves significant performance gains on the LLaMA-1|2|3, Mistral, and OPT models. Notably, the LLaMA-1|2|3 model pruned by our DSA reaches 4.73\%|6.18\%|10.65\% gain over the state-of-the-art techniques (e.g., Wanda and SparseGPT).

Existing learning-based multi-view stereo (MVS) methods rely on the depth range to build the 3D cost volume and may fail when the range is too large or unreliable. To address this problem, we propose a disparity-based MVS method based on the epipolar disparity flow (E-flow), called DispMVS, which infers the depth information from the pixel movement between two views. The core of DispMVS is to construct a 2D cost volume on the image plane along the epipolar line between each pair (between the reference image and several source images) for pixel matching and fuse uncountable depths triangulated from each pair by multi-view geometry to ensure multi-view consistency. To be robust, DispMVS starts from a randomly initialized depth map and iteratively refines the depth map with the help of the coarse-to-fine strategy. Experiments on DTUMVS and Tanks\&Temple datasets show that DispMVS is not sensitive to the depth range and achieves state-of-the-art results with lower GPU memory.

This paper proposes a technique for efficiently modeling dynamic humans by explicifying the implicit neural fields via a Neural Explicit Surface (NES). Implicit neural fields have advantages over traditional explicit representations in modeling dynamic 3D content from sparse observations and effectively representing complex geometries and appearances. Implicit neural fields defined in 3D space, however, are expensive to render due to the need for dense sampling during volumetric rendering. Moreover, their memory efficiency can be further optimized when modeling sparse 3D space. To overcome these issues, the paper proposes utilizing Neural Explicit Surface (NES) to explicitly represent implicit neural fields, facilitating memory and computational efficiency. To achieve this, the paper creates a fully differentiable conversion between the implicit neural fields and the explicit rendering interface of NES, leveraging the strengths of both implicit and explicit approaches. This conversion enables effective training of the hybrid representation using implicit methods and efficient rendering by integrating the explicit rendering interface with a newly proposed rasterization-based neural renderer that only incurs a texture color query once for the initial ray interaction with the explicit surface, resulting in improved inference efficiency. NES describes dynamic human geometries with pose-dependent neural implicit surface deformation fields and their dynamic neural textures both in 2D space, which is a more memory-efficient alternative to traditional 3D methods, reducing redundancy and computational load. The comprehensive experiments show that NES performs similarly to previous 3D approaches, with greatly improved rendering speed and reduced memory cost.

The panorama image can simultaneously demonstrate complete information of the surrounding environment and has many advantages in virtual tourism, games, robotics, etc. However, the progress of panorama depth estimation cannot completely solve the problems of distortion and discontinuity caused by the commonly used projection methods. This paper proposes SphereDepth, a novel panorama depth estimation method that predicts the depth directly on the spherical mesh without projection preprocessing. The core idea is to establish the relationship between the panorama image and the spherical mesh and then use a deep neural network to extract features on the spherical domain to predict depth. To address the efficiency challenges brought by the high-resolution panorama data, we introduce two hyper-parameters for the proposed spherical mesh processing framework to balance the inference speed and accuracy. Validated on three public panorama datasets, SphereDepth achieves comparable results with the state-of-the-art methods of panorama depth estimation. Benefiting from the spherical domain setting, SphereDepth can generate a high-quality point cloud and significantly alleviate the issues of distortion and discontinuity.

Image-based geometric modeling and novel view synthesis based on sparse large-baseline samplings are challenging but important tasks for emerging multimedia applications such as virtual reality and immersive telepresence. Existing methods fail to produce satisfactory results due to the limitation on inferring reliable depth information over such challenging reference conditions. With the popularization of commercial light field (LF) cameras, capturing LF images (LFIs) is as convenient as taking regular photos, and geometry information can be reliably inferred. This inspires us to use a sparse set of LF captures to render high-quality novel views globally. However, the fusion of LF captures from multiple angles is challenging due to the scale inconsistency caused by various capture settings. To overcome this challenge, we propose a novel scale-consistent volume rescaling algorithm that robustly aligns the disparity probability volumes (DPV) among different captures for scale-consistent global geometry fusion. Based on the fused DPV projected to the target camera frustum, novel learning-based modules (i.e., the attention-guided multi-scale residual fusion module, and the disparity field-guided deep re-regularization module), which comprehensively regularize noisy observations from heterogeneous captures for high-quality rendering of novel LFIs, have been proposed. Both quantitative and qualitative experiments over the Stanford Lytro Multi-view LF dataset show that the proposed method outperforms state-of-the-art methods significantly under different experiment settings for disparity inference and LF synthesis.

Energy conservation of large data centers for high performance computing workloads, such as deep learning with Big Data, is of critical significance, where cutting down a few percent of electricity translates into million-dollar savings. This work studies energy conservation on emerging CPU-GPU hybrid clusters through dynamic voltage and frequency scaling (DVFS). We aim at minimizing the total energy consumption of processing a batch of offline tasks or a sequence of real-time tasks under deadline constraints. We derive a fast and accurate analytical model to compute the appropriate voltage/frequency setting for each task, and assign multiple tasks to the cluster with heuristic scheduling algorithms. In particular, our model stresses the nonlinear relationship between task execution time and processor speed for GPU-accelerated applications, for more accurately capturing real-world GPU energy consumption. In performance evaluation driven by real-world power measurement traces, our scheduling algorithm shows comparable energy savings to the theoretical upper bound. With a GPU scaling interval where analytically at most 36% of energy can be saved, we record 33-35% of energy savings. Our results are applicable to energy management on modern heterogeneous clusters.

Existing state-of-the-art disparity estimation works mostly leverage the 4D concatenation volume and construct a very deep 3D convolution neural network (CNN) for disparity regression, which is inefficient due to the high memory consumption and slow inference speed. In this paper, we propose a network named EDNet for efficient disparity estimation. Firstly, we construct a combined volume which incorporates contextual information from the squeezed concatenation volume and feature similarity measurement from the correlation volume. The combined volume can be next aggregated by 2D convolutions which are faster and require less memory than 3D convolutions. Secondly, we propose an attention-based spatial residual module to generate attention-aware residual features. The attention mechanism is applied to provide intuitive spatial evidence about inaccurate regions with the help of error maps at multiple scales and thus improve the residual learning efficiency. Extensive experiments on the Scene Flow and KITTI datasets show that EDNet outperforms the previous 3D CNN based works and achieves state-of-the-art performance with significantly faster speed and less memory consumption.

Indoor robotics applications heavily rely on scene understanding and reconstruction. Compared to monocular vision, stereo vision methods are more promising to produce accurate geometrical information, such as surface normal and depth/disparity. Besides, deep learning models have shown their superior performance in stereo vision tasks. However, existing stereo datasets rarely contain high-quality surface normal and disparity ground truth, hardly satisfying the demand of training a prospective deep model. To this end, we introduce a large-scale indoor robotics stereo (IRS) dataset with over 100K stereo images and high-quality surface normal and disparity maps. Leveraging the advanced techniques of our customized rendering engine, the dataset is considerably close to the real-world scenes. Besides, we present DTN-Net, a two-stage deep model for surface normal estimation. Extensive experiments show the advantages and effectiveness of IRS in training deep models for disparity estimation, and DTN-Net provides state-of-the-art results for normal estimation compared to existing methods.

Deep learning has become widely used in complex AI applications. Yet, training a deep neural network (DNNs) model requires a considerable amount of calculations, long running time, and much energy. Nowadays, many-core AI accelerators (e.g., GPUs and TPUs) are designed to improve the performance of AI training. However, processors from different vendors perform dissimilarly in terms of performance and energy consumption. To investigate the differences among several popular off-the-shelf processors (i.e., Intel CPU, NVIDIA GPU, AMD GPU, and Google TPU) in training DNNs, we carry out a comprehensive empirical study on the performance and energy efficiency of these processors1by benchmarking a representative set of deep learning workloads, including computation-intensive operations, classical convolutional neural networks (CNNs), recurrent neural networks (LSTM), Deep Speech 2, and Transformer. Different from the existing end-to-end benchmarks which only present the training time, We try to investigate the impact of hardware, vendor's software library, and deep learning framework on the performance and energy consumption of AI training. Our evaluation methods and results not only provide an informative guide for end users to select proper AI accelerators, but also expose some opportunities for the hardware vendors to improve their software library.

To reduce the long training time of large deep neural network (DNN) models, distributed synchronous stochastic gradient descent (S-SGD) is commonly used on a cluster of workers. However, the speedup brought by multiple workers is limited by the communication overhead. Two approaches, namely pipelining and gradient sparsification, have been separately proposed to alleviate the impact of communication overheads. Yet, the gradient sparsification methods can only initiate the communication after the backpropagation, and hence miss the pipelining opportunity. In this paper, we propose a new distributed optimization method named LAGS-SGD, which combines S-SGD with a novel layer-wise adaptive gradient sparsification (LAGS) scheme. In LAGS-SGD, every worker selects a small set of 'significant' gradients from each layer independently whose size can be adaptive to the communication-to-computation ratio of that layer. The layer-wise nature of LAGS-SGD opens the opportunity of overlapping communications with computations, while the adaptive nature of LAGS-SGD makes it flexible to control the communication time. We prove that LAGS-SGD has convergence guarantees and it has the same order of convergence rate as vanilla S-SGD under a weak analytical assumption. Extensive experiments are conducted to verify the analytical assumption and the convergence performance of LAGS-SGD. Experimental results on a 16-GPU cluster show that LAGS-SGD outperforms the original S-SGD and existing sparsified S-SGD without losing obvious model accuracy.

Multiplication of a sparse matrix to a dense matrix (SpDM) is widely used in many areas like scientific computing and machine learning. However, existing work under-looks the performance optimization of SpDM on modern manycore architectures like GPUs. The storage data structures help sparse matrices store in a memory-saving format, but they bring difficulties in optimizing the performance of SpDM on modern GPUs due to irregular data access of the sparse structure, which results in lower resource utilization and poorer performance. In this paper, we refer to the roofline performance model of GPUs to design an efficient SpDM algorithm called GCOOSpDM, in which we exploit coalescent global memory access, fast shared memory reuse, and more operations per byte of global memory traffic. Experiments are evaluated on three Nvidia GPUs (i.e., GTX 980, GTX Titan X Pascal, and Tesla P100) using a large number of matrices including a public dataset and randomly generated matrices. Experimental results show that GCOOSpDM achieves 1.5-8x speedup over Nvidia's library cuSPARSE in many matrices.

Deep neural networks (DNNs) have achieved great success in the area of computer vision. The disparity estimation problem tends to be addressed by DNNs which achieve much better prediction accuracy in stereo matching than traditional hand-crafted feature based methods. On one hand, however, the designed DNNs require significant memory and computation resources to accurately predict the disparity, especially for those 3D convolution based networks, which makes it difficult for deployment in real-time applications. On the other hand, existing computation-efficient networks lack expression capability in large-scale datasets so that they cannot make an accurate prediction in many scenarios. To this end, we propose an efficient and accurate deep network for disparity estimation named FADNet with three main features: 1) It exploits efficient 2D based correlation layers with stacked blocks to preserve fast computation; 2) It combines the residual structures to make the deeper model easier to learn; 3) It contains multi-scale predictions so as to exploit a multi-scale weight scheduling training technique to improve the accuracy. We conduct experiments to demonstrate the effectiveness of FADNet on two popular datasets, Scene Flow and KITTI 2015. Experimental results show that FADNet achieves state-of-the-art prediction accuracy, and runs at a significant order of magnitude faster speed than existing 3D models. The codes of FADNet are available at https://github.com/HKBU-HPML/FADNet.

Distributed synchronous stochastic gradient descent (SGD) algorithms are widely used in large-scale deep learning applications, while it is known that the communication bottleneck limits the scalability of the distributed system. Gradient sparsification is a promising technique to significantly reduce the communication traffic, while pipelining can further overlap the communications with computations. However, gradient sparsification introduces extra computation time, and pipelining requires many layer-wise communications which introduce significant communication startup overheads. Merging gradients from neighbor layers could reduce the startup overheads, but on the other hand it would increase the computation time of sparsification and the waiting time for the gradient computation. In this paper, we formulate the trade-off between communications and computations (including backward computation and gradient sparsification) as an optimization problem, and derive an optimal solution to the problem. We further develop the optimal merged gradient sparsification algorithm with SGD (OMGS-SGD) for distributed training of deep learning. We conduct extensive experiments to verify the convergence properties and scaling performance of OMGS-SGD. Experimental results show that OMGS-SGD achieves up to 31% end-to-end time efficiency improvement over the state-of-the-art sparsified SGD while preserving nearly consistent convergence performance with original SGD without sparsification on a 16-GPU cluster connected with 1Gbps Ethernet.

Erasure codes have been used extensively in large-scale storage systems to reduce the storage overhead of triplication-based storage systems. One key performance issue introduced by erasure codes is the long time needed to recover from a single failure, which occurs constantly in large-scale storage systems. We present ESetStore, a prototype erasure-coded storage system that aims to achieve fast recovery from failures. ESetStore is novel in the following aspects. We proposed a data placement algorithm named ESet for our ESetStore that can aggregate adequate I/O resources from available storage servers to recover from each single failure. We designed and implemented efficient read and write operations on our erasure-coded storage system via effective use of available I/O and computation resources. We evaluated the performance of ESetStore with extensive experiments on a cluster with 50 storage servers. The evaluation results demonstrate that our recovery performance can obtain linear performance growth by harvesting available I/O resources. With our defined parameter recovery I/O parallelism under some mild conditions, we can achieve optimal recovery performance, in which ESet enables minimal recovery time. Rather than being an alternative to improve recovery performance, our work can be an enhancement for existing solutions, such as Partial-parallel-repair (PPR), to further improve recovery performance.

Contemporary graphics processing units (GPUs) support dynamic voltage and frequency scaling to balance computational performance and energy consumption. However, accurate and straightforward performance estimation for a given GPU kernel under different frequency settings is still lacking for real hardware, which is essential to determine the best frequency configuration for energy saving. In this article, we reveal a fine-grained analytical model to estimate the execution time of GPU kernels with both core and memory frequency scaling. Compared to the cycle-level simulators, which are too slow to apply on real hardware, our model only needs simple and one-off micro-benchmarks to extract a set of hardware parameters and kernel performance counters without any source code analysis. Our experimental results show that the proposed performance model can capture the kernel performance scaling behaviors under different frequency settings and achieve decent accuracy (average errors of 3.85, 8.6, 8.82, and 8.83 percent on a set of 20 GPU kernels with four modern Nvidia GPUs).

Distributed synchronous stochastic gradient descent (S-SGD) with data parallelism has been widely used in training large-scale deep neural networks (DNNs), but it typically requires very high communication bandwidth between computational workers (e.g., GPUs) to exchange gradients iteratively. Recently, Top-k sparsification techniques have been proposed to reduce the volume of data to be exchanged among workers and thus alleviate the network pressure. Top-k sparsification can zero-out a significant portion of gradients without impacting the model convergence. However, the sparse gradients should be transferred with their indices, and the irregular indices make the sparse gradients aggregation difficult. Current methods that use AllGather to accumulate the sparse gradients have a communication complexity of O(kP), where P is the number of workers, which is inefficient on low bandwidth networks with a large number of workers. We observe that not all top-k gradients from P workers are needed for the model update, and therefore we propose a novel global Top-k (gTop-k) sparsification mechanism to address the difficulty of aggregating sparse gradients. Specifically, we choose global top-k largest absolute values of gradients from P workers, instead of accumulating all local top-k gradients to update the model in each iteration. The gradient aggregation method based on gTop-k sparsification, namely gTopKAllReduce, reduces the communication complexity from O(kP) to O(k log P). Through extensive experiments on different DNNs, we verify that gTop-k S-SGD has nearly consistent convergence performance with S-SGD, and it has only slight degradations on generalization performance. In terms of scaling efficiency, we evaluate gTop-k on a cluster with 32 GPU machines which are interconnected with 1 Gbps Ethernet. The experimental results show that our method achieves 2.7-12× higher scaling efficiency than S-SGD with dense gradients and 1.1-1.7× improvement than the existing Top-k S-SGD.

Gradient sparsification is a promising technique to significantly reduce the communication overhead in decentralized synchronous stochastic gradient descent (S-SGD) algorithms. Yet, many existing gradient sparsification schemes (e.g., Top-k sparsification) have a communication complexity of O(kP), where k is the number of selected gradients by each worker and P is the number of workers. Recently, the gTop-k sparsification scheme has been proposed to reduce the communication complexity from O(kP) to O(k logP), which significantly boosts the system scalability. However, it remains unclear whether the gTop-k sparsification scheme can converge in theory. In this paper, we first provide theoretical proofs on the convergence of the gTop-k scheme for non-convex objective functions under certain analytic assumptions. We then derive the convergence rate of gTop-k S-SGD, which is at the same order as the vanilla mini-batch SGD. Finally, we conduct extensive experiments on different machine learning models and data sets to verify the soundness of the assumptions and theoretical results, and discuss the impact of the compression ratio on the convergence performance.

With huge amounts of training data, deep learning has made great breakthroughs in many artificial intelligence (AI) applications. However, such large-scale data sets present computational challenges, requiring training to be distributed on a cluster equipped with accelerators like GPUs. With the fast increase of G PU computing power, the data communications among GPUs have become a potential bottleneck on the overall training performance. In this paper, we first propose a general directed acyclic graph (DAG) model to describe the distributed synchronous stochastic gradient descent (S-SG D) algorithm, which has been widely used in distributed deep learning frameworks. To understand the practical impact of data communications on training performance, we conduct extensive empirical studies on four state-of-the-art distributed deep learning frameworks (i.e., Caffe-MPI, CNTK, MXNet and TensorFlow) over multi-GPU and multi-node environments with different data communication techniques, including PCIe, NVLink, 10GbE, and InfiniBand. Through both analytical and experimental studies, we identify the potential bottlenecks and overheads that could be further optimized. At last, we make the data set of our experimental traces publicly available, which could be used to support simulation-based studies.

Graphics processing units (GPUs) support dynamic voltage and frequency scaling to balance computational performance and energy consumption. However, simple and accurate performance estimation for a given GPU kernel under different frequency settings is still lacking for real hardware, which is important to decide the best frequency configuration for energy saving. We reveal a fine-grained analytical model to estimate the execution time of GPU kernels with both core and memory frequency scaling. Over a 2 x range of both core and memory frequencies among 20 GPU kernels, our model achieves accurate results (4.83 % error on average) with real hardware. Compared to the cycle-level simulators, our model only needs simple micro-benchmarks to extract a set of hardware parameters and kernel performance counters to produce such high accuracy without kernel source analysis.

Recently, erasure coding has been extensively deployed in large-scale storage systems to replace data replication. With the increase in disk I/O throughput and network bandwidth, the performance of erasure coding becomes a major bottleneck of erasure-coded storage systems. In this paper, we propose a graphics processing unit (GPU)-based implementation of erasure coding named G-CRS, which employs the Cauchy Reed-Solomon (CRS) code, to overcome the aforementioned bottleneck. To maximize the coding performance of G-CRS, we designed and implemented a set of optimization strategies, such as a compact structure to store thebitmatrixin GPU constant memory, efficient data access through shared memory, and decoding parallelism, to fully utilize the GPU resources. In addition, we derived a simple yet accurate performance model to demonstrate the maximum coding performance of G-CRS on GPU. We evaluated the performance of G-CRS through extensive experiments on modern GPU architectures such as Maxwell and Pascal, and compared with other state-of-the-art coding libraries. The evaluation results revealed that the throughput of G-CRS was 10 times faster than most of the other coding libraries. Moreover, G-CRS outperformed PErasure (a recently developed, well optimized CRS coding library on the GPU) by up to 3 times in the same architecture.

Embedded smart cameras have made a dramatic shift towards distributed surveillance systems by combining sensing, processing and communicating on a single platform. A critical issue in embedded smart cameras is resource-limited, which poses great challenging in designing fast and efficient vision algorithms. In this paper, we explore light-weighted foreground detection in resource-limited embedded smart cameras. More specifically, we propose RaFFD (Resource-aware Fast Foreground Detection) that reduces the computation and storage overhead in foreground detection. Observing that computation and storage overhead increase proportionally to its pixel manipulation, RaFFD deals with the target's contour points instead of the whole image. RaFFD incorporates a contour-based detection with dynamic background update, ensuring accurate foreground detection and address the bottlenecks of processing speed. We have implemented RaFFD on the our embedded smart camera platform based on CITRIC architecture. Our experimental evaluation shows that RaFFD can detect foreground with close to 95% accuracy and 6% false alarm. Even in an challenging scenario with illumination and vibration influence, RaFFD can still maintain the good robustness. Compared to the recently detection method oriented to embedded systems, RaFFD can increase processing speed to approximately twice and decrease memory consumption by 68%.

Imputation for missing data is an important task of data mining, which may influence the data mining result. In this paper, Missing Categorical Data Imputation Based on Similarity (MIBOS) is proposed to solve this problem. The algorithm defines a similarity model between objects with incomplete data, constructing the similarity matrix of objects and further gets the nearest undifferentiated object sets of each object to impute the missing data iteratively. In the imputing process, the imputed value will be directly applied to the same iteration and the following iterations. Experiments with three UCI benchmark data sets show the improvement of the proposed algorithm from perspectives of complete rate, accuracy and time efficiency.