FusionAD: Multi-modality Fusion for Prediction and Planning Tasks of Autonomous Driving

Building a multi-modality multi-task neural network toward accurate and robust performance is a de-facto standard in perception task of autonomous driving. However, leveraging such data from multiple sensors to jointly optimize the prediction and planning tasks remains largely unexplored. In this paper, we present FusionAD, to the best of our knowledge, the first unified framework that fuse the information from two most critical sensors, camera and LiDAR, goes beyond perception task. Concretely, we first build a transformer based multi-modality fusion network to effectively produce fusion based features. In constrast to camera-based end-to-end method UniAD, we then establish a fusion aided modality-aware prediction and status-aware planning modules, dubbed FMSPnP that take advantages of multi-modality features. We conduct extensive experiments on commonly used benchmark nuScenes dataset, our FusionAD achieves state-of-the-art performance and surpassing baselines on average 15% on perception tasks like detection and tracking, 10% on occupancy prediction accuracy, reducing prediction error from 0.708 to 0.389 in ADE score and reduces the collision rate from 0.31% to only 0.12%.

MIGPerf: A Comprehensive Benchmark for Deep Learning Training and Inference Workloads on Multi-Instance GPUs

New architecture GPUs like A100 are now equipped with multi-instance GPU (MIG) technology, which allows the GPU to be partitioned into multiple small, isolated instances. This technology provides more flexibility for users to support both deep learning training and inference workloads, but efficiently utilizing it can still be challenging. The vision of this paper is to provide a more comprehensive and practical benchmark study for MIG in order to eliminate the need for tedious manual benchmarking and tuning efforts. To achieve this vision, the paper presents MIGPerf, an open-source tool that streamlines the benchmark study for MIG. Using MIGPerf, the authors conduct a series of experiments, including deep learning training and inference characterization on MIG, GPU sharing characterization, and framework compatibility with MIG. The results of these experiments provide new insights and guidance for users to effectively employ MIG, and lay the foundation for further research on the orchestration of hybrid training and inference workloads on MIGs. The code and results are released on https://github.com/MLSysOps/MIGProfiler. This work is still in progress and more results will be published soon.

Focusing More on Conflicts with Mis-Predictions Helps Language Pre-Training

In this work, we propose to improve the effectiveness of language pre-training methods with the help of mis-predictions during pre-training. Neglecting words in the input sentence that have conflicting semantics with mis-predictions is likely to be the reason of generating mis-predictions at pre-training. Therefore, we hypothesis that mis-predictions during pre-training can act as detectors of the ill focuses of the model. If we train the model to focus more on the conflicts with the mis-predictions while focus less on the rest words in the input sentence, the mis-predictions can be more easily corrected and the entire model could be better trained. Towards this end, we introduce Focusing Less on Context of Mis-predictions(McMisP). In McMisP, we record the co-occurrence information between words to detect the conflicting words with mis-predictions in an unsupervised way. Then McMisP uses such information to guide the attention modules when a mis-prediction occurs. Specifically, several attention modules in the Transformer are optimized to focus more on words in the input sentence that have co-occurred rarely with the mis-predictions and vice versa. Results show that McMisP significantly expedites BERT and ELECTRA and improves their performances on downstream tasks.

Balanced Sparsity for Efficient DNN Inference on GPU

In trained deep neural networks, unstructured pruning can reduce redundant weights to lower storage cost. However, it requires the customization of hardwares to speed up practical inference. Another trend accelerates sparse model inference on general-purpose hardwares by adopting coarse-grained sparsity to prune or regularize consecutive weights for efficient computation. But this method often sacrifices model accuracy. In this paper, we propose a novel fine-grained sparsity approach, balanced sparsity, to achieve high model accuracy with commercial hardwares efficiently. Our approach adapts to high parallelism property of GPU, showing incredible potential for sparsity in the widely deployment of deep learning services. Experiment results show that balanced sparsity achieves up to 3.1x practical speedup for model inference on GPU, while retains the same high model accuracy as fine-grained sparsity.