DaCapo: Accelerating Continuous Learning in Autonomous Systems for Video Analytics

Deep neural network (DNN) video analytics is crucial for autonomous systems such as self-driving vehicles, unmanned aerial vehicles (UAVs), and security robots. However, real-world deployment faces challenges due to their limited computational resources and battery power. To tackle these challenges, continuous learning exploits a lightweight "student" model at deployment (inference), leverages a larger "teacher" model for labeling sampled data (labeling), and continuously retrains the student model to adapt to changing scenarios (retraining). This paper highlights the limitations in state-of-the-art continuous learning systems: (1) they focus on computations for retraining, while overlooking the compute needs for inference and labeling, (2) they rely on power-hungry GPUs, unsuitable for battery-operated autonomous systems, and (3) they are located on a remote centralized server, intended for multi-tenant scenarios, again unsuitable for autonomous systems due to privacy, network availability, and latency concerns. We propose a hardware-algorithm co-designed solution for continuous learning, DaCapo, that enables autonomous systems to perform concurrent executions of inference, labeling, and training in a performant and energy-efficient manner. DaCapo comprises (1) a spatially-partitionable and precision-flexible accelerator enabling parallel execution of kernels on sub-accelerators at their respective precisions, and (2) a spatiotemporal resource allocation algorithm that strategically navigates the resource-accuracy tradeoff space, facilitating optimal decisions for resource allocation to achieve maximal accuracy. Our evaluation shows that DaCapo achieves 6.5% and 5.5% higher accuracy than a state-of-the-art GPU-based continuous learning systems, Ekya and EOMU, respectively, while consuming 254x less power.

Accelerating String-Key Learned Index Structures via Memoization-based Incremental Training

Learned indexes use machine learning models to learn the mappings between keys and their corresponding positions in key-value indexes. These indexes use the mapping information as training data. Learned indexes require frequent retrainings of their models to incorporate the changes introduced by update queries. To efficiently retrain the models, existing learned index systems often harness a linear algebraic QR factorization technique that performs matrix decomposition. This factorization approach processes all key-position pairs during each retraining, resulting in compute operations that grow linearly with the total number of keys and their lengths. Consequently, the retrainings create a severe performance bottleneck, especially for variable-length string keys, while the retrainings are crucial for maintaining high prediction accuracy and in turn, ensuring low query service latency. To address this performance problem, we develop an algorithm-hardware co-designed string-key learned index system, dubbed SIA. In designing SIA, we leverage a unique algorithmic property of the matrix decomposition-based training method. Exploiting the property, we develop a memoization-based incremental training scheme, which only requires computation over updated keys, while decomposition results of non-updated keys from previous computations can be reused. We further enhance SIA to offload a portion of this training process to an FPGA accelerator to not only relieve CPU resources for serving index queries (i.e., inference), but also accelerate the training itself. Our evaluation shows that compared to ALEX, LIPP, and SIndex, a state-of-the-art learned index systems, SIA-accelerated learned indexes offer 2.6x and 3.4x higher throughput on the two real-world benchmark suites, YCSB and Twitter cache trace, respectively.

CoVA: Exploiting Compressed-Domain Analysis to Accelerate Video Analytics

Modern retrospective analytics systems leverage cascade architecture to mitigate bottleneck for computing deep neural networks (DNNs). However, the existing cascades suffer two limitations: (1) decoding bottleneck is either neglected or circumvented, paying significant compute and storage cost for pre-processing; and (2) the systems are specialized for temporal queries and lack spatial query support. This paper presents CoVA, a novel cascade architecture that splits the cascade computation between compressed domain and pixel domain to address the decoding bottleneck, supporting both temporal and spatial queries. CoVA cascades analysis into three major stages where the first two stages are performed in compressed domain while the last one in pixel domain. First, CoVA detects occurrences of moving objects (called blobs) over a set of compressed frames (called tracks). Then, using the track results, CoVA prudently selects a minimal set of frames to obtain the label information and only decode them to compute the full DNNs, alleviating the decoding bottleneck. Lastly, CoVA associates tracks with labels to produce the final analysis results on which users can process both temporal and spatial queries. Our experiments demonstrate that CoVA offers 4.8x throughput improvement over modern cascade systems, while imposing modest accuracy loss.

FlexBlock: A Flexible DNN Training Accelerator with Multi-Mode Block Floating Point Support

Training deep neural networks (DNNs) is a computationally expensive job, which can take weeks or months even with high performance GPUs. As a remedy for this challenge, community has started exploring the use of more efficient data representations in the training process, e.g., block floating point (BFP). However, prior work on BFP-based DNN accelerators rely on a specific BFP representation making them less versatile. This paper builds upon an algorithmic observation that we can accelerate the training by leveraging multiple BFP precisions without compromising the finally achieved accuracy. Backed up by this algorithmic opportunity, we develop a flexible DNN training accelerator, dubbed FlexBlock, which supports three different BFP precision modes, possibly different among activation, weight, and gradient tensors. While several prior works proposed such multi-precision support for DNN accelerators, not only do they focus only on the inference, but also their core utilization is suboptimal at a fixed precision and specific layer types when the training is considered. Instead, FlexBlock is designed in such a way that high core utilization is achievable for i) various layer types, and ii) three BFP precisions by mapping data in a hierarchical manner to its compute units. We evaluate the effectiveness of FlexBlock architecture using well-known DNNs on CIFAR, ImageNet and WMT14 datasets. As a result, training in FlexBlock significantly improves the training speed by 1.5~5.3x and the energy efficiency by 2.4~7.0x on average compared to other training accelerators and incurs marginal accuracy loss compared to full-precision training.

Multi-model Machine Learning Inference Serving with GPU Spatial Partitioning

As machine learning techniques are applied to a widening range of applications, high throughput machine learning (ML) inference servers have become critical for online service applications. Such ML inference servers pose two challenges: first, they must provide a bounded latency for each request to support consistent service-level objective (SLO), and second, they can serve multiple heterogeneous ML models in a system as certain tasks involve invocation of multiple models and consolidating multiple models can improve system utilization. To address the two requirements of ML inference servers, this paper proposes a new ML inference scheduling framework for multi-model ML inference servers. The paper first shows that with SLO constraints, current GPUs are not fully utilized for ML inference tasks. To maximize the resource efficiency of inference servers, a key mechanism proposed in this paper is to exploit hardware support for spatial partitioning of GPU resources. With the partitioning mechanism, a new abstraction layer of GPU resources is created with configurable GPU resources. The scheduler assigns requests to virtual GPUs, called gpu-lets, with the most effective amount of resources. The paper also investigates a remedy for potential interference effects when two ML tasks are running concurrently in a GPU. Our prototype implementation proves that spatial partitioning enhances throughput by 102.6% on average while satisfying SLOs.

Bit Fusion: Bit-Level Dynamically Composable Architecture for Accelerating Deep Neural Networks

Fully realizing the potential of acceleration for Deep Neural Networks (DNNs) requires understanding and leveraging algorithmic properties. This paper builds upon the algorithmic insight that bitwidth of operations in DNNs can be reduced without compromising their classification accuracy. However, to prevent accuracy loss, the bitwidth varies significantly across DNNs and it may even be adjusted for each layer. Thus, a fixed-bitwidth accelerator would either offer limited benefits to accommodate the worst-case bitwidth requirements, or lead to a degradation in final accuracy. To alleviate these deficiencies, this work introduces dynamic bit-level fusion/decomposition as a new dimension in the design of DNN accelerators. We explore this dimension by designing Bit Fusion, a bit-flexible accelerator, that constitutes an array of bit-level processing elements that dynamically fuse to match the bitwidth of individual DNN layers. This flexibility in the architecture enables minimizing the computation and the communication at the finest granularity possible with no loss in accuracy. We evaluate the benefits of BitFusion using eight real-world feed-forward and recurrent DNNs. The proposed microarchitecture is implemented in Verilog and synthesized in 45 nm technology. Using the synthesis results and cycle accurate simulation, we compare the benefits of Bit Fusion to two state-of-the-art DNN accelerators, Eyeriss and Stripes. In the same area, frequency, and process technology, BitFusion offers 3.9x speedup and 5.1x energy savings over Eyeriss. Compared to Stripes, BitFusion provides 2.6x speedup and 3.9x energy reduction at 45 nm node when BitFusion area and frequency are set to those of Stripes. Scaling to GPU technology node of 16 nm, BitFusion almost matches the performance of a 250-Watt Titan Xp, which uses 8-bit vector instructions, while BitFusion merely consumes 895 milliwatts of power.