Heterogeneous systems that integrate a multicore CPU and a GPU on the same die are ubiquitous. On these systems, both the CPU and GPU share the same physical memory as opposed to using separate memory dies. Although integration eliminates the need to copy data between the CPU and the GPU, arranging transparent memory sharing between the two devices can carry large overheads. Memory on CPU/GPU systems is typically managed by a software framework such as OpenCL or CUDA, which includes a runtime library, and communicates with a GPU driver. These frameworks offer a range of memory management methods that vary in ease of use, consistency guarantees and performance. In this study, we analyze some of the common memory management methods of the most widely used software frameworks for heterogeneous systems: CUDA, OpenCL 1.2, OpenCL 2.0, and HSA, on NVIDIA and AMD hardware. We focus on performance/functionality trade-offs, with the goal of exposing their performance impact and simplifying the choice of memory management methods for programmers.

NUMA systems are characterized by Non-Uniform Memory Access times, where accessing data in a remote node takes longer than a local access. NUMA hardware has been built since the late 80's, and the operating systems designed for it were optimized for access locality. They co-located memory pages with the threads that accessed them, so as to avoid the cost of remote accesses. Contrary to older systems, modern NUMA hardware has much smaller remote wire delays, and so remote access costs per se are not the main concern for performance, as we discovered in this work. Instead, congestion on memory controllers and interconnects, caused by memory traffic from data-intensive applications, hurts performance a lot more. Because of that, memory placement algorithms must be redesigned to target traffic congestion. This requires an arsenal of techniques that go beyond optimizing locality. In this paper we describe Carrefour, an algorithm that addresses this goal. We implemented Carrefour in Linux and obtained performance improvements of up to 3.6 relative to the default kernel, as well as significant improvements compared to NUMA-aware patchsets available for Linux. Carrefour never hurts performance by more than 4% when memory placement cannot be improved. We present the design of Carrefour, the challenges of implementing it on modern hardware, and draw insights about hardware support that would help optimize system software on future NUMA systems.