Efficient deployment of large language models, particularly Mixture of Experts (MoE) models, on resource-constrained platforms presents significant challenges in terms of computational efficiency and memory utilization. The MoE architecture, renowned for its ability to increase model capacity without a proportional increase in inference cost, greatly reduces the token generation latency compared with dense models. However, the large model size makes MoE models inaccessible to individuals without high-end GPUs. In this paper, we propose a high-throughput MoE batch inference system, MoE-Lightning, that significantly outperforms past work. MoE-Lightning introduces a novel CPU-GPU-I/O pipelining schedule, CGOPipe, with paged weights to achieve high resource utilization, and a performance model, HRM, based on a Hierarchical Roofline Model we introduce to help find policies with higher throughput than existing systems. MoE-Lightning can achieve up to (10.3x) higher throughput than state-of-the-art offloading-enabled LLM inference systems for Mixtral 8x7B on a single T4 GPU (16GB). When the theoretical system throughput is bounded by the GPU memory, MoE-Lightning can reach the throughput upper bound with 2-3x less CPU memory, significantly increasing resource utilization. MoE-Lightning also supports efficient batch inference for much larger MoEs (e.g., Mixtral 8x22B and DBRX) on multiple low-cost GPUs (e.g., 2--4 T4s).

The safety of autonomous vehicles (AVs) depends on their ability to perform complex computations on high-volume sensor data in a timely manner. Their ability to run these computations with state-of-the-art models is limited by the processing power and slow update cycles of their onboard hardware. In contrast, cloud computing offers the ability to burst computation to vast amounts of the latest generation of hardware. However, accessing these cloud resources requires traversing wireless networks that are often considered to be too unreliable for real-time AV driving applications. Our work seeks to harness this unreliable cloud to enhance the accuracy of an AV's decisions, while ensuring that it can always fall back to its on-board computational capabilities. We identify three mechanisms that can be used by AVs to safely leverage the cloud for accuracy enhancements, and elaborate why current execution systems fail to enable these mechanisms. To address these limitations, we provide a system design based on the speculative execution of an AV's pipeline in the cloud, and show the efficacy of this approach in simulations of complex real-world scenarios that apply these mechanisms.

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.

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.