Publications by Type: Journal Article

S. Krishnan, B. Boroujerdian, W. Fu, A. Faust, and V. J. Reddi, “Air Learning: An AI Research Platform for Algorithm-Hardware Benchmarking of Autonomous Aerial Robots,” Springer Machine Learning Journal, no. Special Issue on Reinforcement Learning for Real Life, Forthcoming. arXiv VersionAbstract
We introduce Air Learning, an AI research platform for benchmarking algorithm-hardware performance and energy efficiency trade-offs. We focus in particular on deep reinforcement learning (RL) interactions in autonomous unmanned aerial vehicles (UAVs). Equipped with a random environment generator, AirLearning exposes a UAV to a diverse set of challenging scenarios. Users can specify a task, train different RL policies and evaluate their performance and energy efficiency on a variety of hardware platforms. To show how Air Learning can be used, we seed it with Deep Q Networks (DQN) and Proximal Policy Optimization (PPO) to solve a point-to-point obstacle avoidance task in three different environments, generated using our configurable environment generator. We train the two algorithms using curriculum learning and non-curriculum-learning. Air Learning assesses the trained policies' performance, under a variety of quality-of-flight (QoF) metrics, such as the energy consumed, endurance and the average trajectory length, on resource-constrained embedded platforms like a Ras-Pi. We find that the trajectories on an embedded Ras-Pi are vastly different from those predicted on a high-end desktop system, resulting in up to 79.43% longer trajectories in one of the environments. To understand the source of such differences, we use Air Learning to artificially degrade desktop performance to mimic what happens on a low-end embedded system. QoF metrics with hardware-in-the-loop characterize those differences and expose how the choice of onboard compute affects the aerial robot's performance. We also conduct reliability studies to demonstrate how Air Learning can help understand how sensor failures affect the learned policies. All put together, Air Learning enables a broad class of RL studies on UAVs. More information and code for Air Learning can be found here.
B. Plancher, S. M. Neuman, T. Bourgeat, S. Kuindersma, S. Devadas, and V. J. Reddi, “Accelerating Robot Dynamics Gradients on a CPU, GPU, and FPGA,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2335-2342, 2021. IEEE VersionAbstract
Computing the gradient of rigid body dynamics is a central operation in many state-of-the-art planning and control algorithms in robotics. Parallel computing platforms such as GPUs and FPGAs can offer performance gains for algorithms with hardware-compatible computational structures. In this letter, we detail the designs of three faster than state-of-the-art implementations of the gradient of rigid body dynamics on a CPU, GPU, and FPGA. Our optimized FPGA and GPU implementations provide as much as a 3.0x end-to-end speedup over our optimized CPU implementation by refactoring the algorithm to exploit its computational features, e.g., parallelism at different granularities. We also find that the relative performance across hardware platforms depends on the number of parallel gradient evaluations required.
D. Richins, et al., “AI Tax: The Hidden Cost of AI Data Center Applications,” ACM Transactions on Computer Systems (TOCS), vol. 37, no. 1-4, pp. 1-32, 2021. ACM Digital Library VersionAbstract
Artificial intelligence and machine learning are experiencing widespread adoption in industry and academia. This has been driven by rapid advances in the applications and accuracy of AI through increasingly complex algorithms and models; this, in turn, has spurred research into specialized hardware AI accelerators. Given the rapid pace of advances, it is easy to forget that they are often developed and evaluated in a vacuum without considering the full application environment. This article emphasizes the need for a holistic, end-to-end analysis of artificial intelligence (AI) workloads and reveals the “AI tax.” We deploy and characterize Face Recognition in an edge data center. The application is an AI-centric edge video analytics application built using popular open source infrastructure and machine learning (ML) tools. Despite using state-of-the-art AI and ML algorithms, the application relies heavily on pre- and post-processing code. As AI-centric applications benefit from the acceleration promised by accelerators, we find they impose stresses on the hardware and software infrastructure: storage and network bandwidth become major bottlenecks with increasing AI acceleration. By specializing for AI applications, we show that a purpose-built edge data center can be designed for the stresses of accelerated AI at 15% lower TCO than one derived from homogeneous servers and infrastructure.
V. J. Reddi, G. Diamos, P. Warden, P. Mattson, and D. Kanter, “Data Engineering for Everyone,” 2021. arXiv VersionAbstract
Data engineering is one of the fastest-growing fields within machine learning (ML). As ML becomes more common, the appetite for data grows more ravenous. But ML requires more data than individual teams of data engineers can readily produce, which presents a severe challenge to ML deployment at scale. Much like the software-engineering revolution, where mass adoption of open-source software replaced the closed, in-house development model for infrastructure code, there is a growing need to enable rapid development and open contribution to massive machine learning data sets. This article shows that open-source data sets are the rocket fuel for research and innovation at even some of the largest AI organizations. Our analysis of nearly 2000 research publications from Facebook, Google and Microsoft over the past five years shows the widespread use and adoption of open data sets. Open data sets that are easily accessible to the public are vital to accelerate ML innovation for everyone. But such open resources are scarce in the wild. So, can we accelerate data set creation and enable the rapid development of open data sets, akin to the rapid development of open-source software? Moreover, can we develop automatic data set generation frameowrks and tools to avert the data scarcity crisis?
B. P. Duisterhof, et al., “Learning to Seek: Autonomous Source Seeking with Deep Reinforcement Learning Onboard a Nano Drone Microcontroller,” 2021. arXiv VersionAbstract
Fully autonomous navigation using nano drones has numerous applications in the real world, ranging from search and rescue to source seeking. Nano drones are wellsuited for source seeking because of their agility, low price, and ubiquitous character. Unfortunately, their constrained form factor limits flight time, sensor payload, and compute capability. These challenges are a crucial limitation for the use of source-seeking nano drones in GPS-denied and highly cluttered environments. Hereby, we introduce a fully autonomous deep reinforcement learning-based light-seeking nano drone. The 33-gram nano drone performs all computation on-board the ultra-low-power microcontroller (MCU). We present the method for efficiently training, converting, and utilizing deep reinforcement learning policies. Our training methodology and novel quantization scheme allow fitting the trained policy in 3 kB of memory. The quantization scheme uses representative input data and input scaling to arrive at a full 8-bit model. Finally, we evaluate the approach in simulation and flight tests using a Bitcraze CrazyFlie, achieving 80% success rate on average in a highly cluttered and randomized test environment. Even more, the drone finds the light source in 29% fewer steps compared to a baseline simulation (obstacle avoidance without source information). To our knowledge, this is the first deep reinforcement learning method that enables source seeking within a highly constrained nano drone demonstrating robust flight behavior. Our general methodology is suitable for any (source seeking) highly constrained platform using deep reinforcement learning. Code & video: https://github. com/harvard-edge/source-seeking
T. Tambe, et al., “AdaptivFloat: A Floating-point based Data Type for Resilient Deep Learning Inference,” arXiv preprint arXiv:1909.13271, 2020. arXiv VersionAbstract
Conventional hardware-friendly quantization methods, such as fixed-point or integer, tend to perform poorly at very low word sizes as their shrinking dynamic ranges cannot adequately capture the wide data distributions commonly seen in sequence transduction models. We present AdaptivFloat, a floating-point inspired number representation format for deep learning that dynamically maximizes and optimally clips its available dynamic range, at a layer granularity, in order to create faithful encoding of neural network parameters. AdaptivFloat consistently produces higher inference accuracies compared to block floating-point, uniform, IEEE-like float or posit encodings at very low precision (≤ 8-bit) across a diverse set of state-of-the-art neural network topologies. And notably, AdaptivFloat is seen surpassing baseline FP32 performance by up to +0.3 in BLEU score and -0.75 in word error rate at weight bit widths that are ≤ 8-bit. Experimental results on a deep neural network (DNN) hardware accelerator, exploiting AdaptivFloat logic in its computational datapath, demonstrate per-operation energy and area that is 0.9× and 1.14×, respectively, that of equivalent bit width integer-based accelerator variants.
G. Papadimitriou, et al., “Exceeding Conservative Limits: A Consolidated Analysis on Modern Hardware Margins,” IEEE Transactions on Device and Materials Reliability, vol. 20, no. 2, pp. 341-350, 2020.Abstract
Modern large-scale computing systems (data centers, supercomputers, cloud and edge setups and high-end cyber-physical systems) employ heterogeneous architectures that consist of multicore CPUs, general-purpose many-core GPUs, and programmable FPGAs. The effective utilization of these architectures poses several challenges, among which a primary one is power consumption. Voltage reduction is one of the most efficient methods to reduce power consumption of a chip. With the galloping adoption of hardware accelerators (i.e., GPUs and FPGAs) in large datacenters and other large-scale computing infrastructures, a comprehensive evaluation of the safe voltage reduction levels for each different chip can be employed for efficient reduction of the total power. We present a survey of recent studies in voltage margins reduction at the system level for modern CPUs, GPUs and FPGAs. The pessimistic voltage guardbands inserted by the silicon vendors can be exploited in all devices for significant power savings. On average, voltage reduction can reach 12% in multicore CPUs, 20% in manycore GPUs and 39% in FPGAs.
P. Mattson, et al., “MLPerf: An Industry Standard Benchmark Suite for Machine Learning Performance,” IEEE Micro, vol. 40, no. 2, pp. 8-16, 2020.Abstract
In this article, we describe the design choices behind MLPerf, a machine learning performance benchmark that has become an industry standard. The first two rounds of the MLPerf Training benchmark helped drive improvements to software-stack performance and scalability, showing a 1.3× speedup in the top 16-chip results despite higher quality targets and a 5.5× increase in system scale. The first round of MLPerf Inference received over 500 benchmark results from 14 different organizations, showing growing adoption.
J. Leng, A. Buyuktosunoglu, R. Bertran, P. Bose, Y. Zu, and V. J. Reddi, “Predictive Guardbanding: Program-driven Timing Margin Reduction for GPUs,” IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, pp. 1-1, 2020.Abstract
Energy efficiency of GPU architectures has emerged as an essential aspect of computer system design. In this paper, we explore the energy benefits of reducing the GPU chip’s voltage to the safe limit, i.e., Vmin point, using predictive software techniques. We perform such a study on several commercial off-the-shelf GPU cards. We find that there exists about 20% voltage guardband on those GPUs spanning two architectural generations, which, if “eliminated"entirely, can result in up to 25% energy savings on one of the studied GPU cards. Our measurement results unveil a program dependent Vmin behavior across the studied applications, and the exact improvement magnitude depends on the program’s available guardband. We make fundamental observations about the program-dependent Vmin behavior. We experimentally determine that the voltage noise has a more substantial impact on Vmin compared to the process and temperature variation, and the activities during the kernel execution cause large voltage droops. From these findings, we show how to use kernels’ microarchitectural performance counters to predict its Vmin value accurately. The average and maximum prediction errors are 0.5% and 3%, respectively. The accurate Vmin prediction opens up new possibilities of a cross-layer dynamic guardbanding scheme for GPUs, in which software predicts and manages the voltage guardband, while the functional correctness is ensured by a hardware safety net mechanism.
S. Krishnan, et al., “The Sky Is Not the Limit: A Visual Performance Model for Cyber-Physical Co-Design in Autonomous Machines,” IEEE Computer Architecture Letters, vol. 19, no. 1, pp. 38-42, 2020.
A. Zou, et al., “Voltage-Stacked Power Delivery Systems: Reliability, Efficiency, and Power Management,” IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, pp. 1-1, 2020.Abstract
In today’s manycore processors, energy loss of more than 20% may result from inherent inefficiencies of conventional power delivery system (PDS) design. By stacking multiple voltage domains in series to lower the step-down conversion ratio of the off-chip voltage regulator module (VRM) and reduce energy loss along the path of the power delivery network (PDN), voltage stacking (VS) offers a novel alternative power delivery technique to fundamentally improve power delivery efficiency (PDE). However, voltage stacking suffers from aggravated supply voltage noise from current imbalance, which hinders its adoption. In this paper, we investigate practical voltage stacking implementation in manycore processors to improve power delivery efficiency (PDE) and achieve reliable performance, while maintaining compatibility with advanced power management techniques. We first present the system configuration of a voltage-stacked manycore processor. We then systematically characterize supply voltage noise in voltage stacking, identify global and residual differential currents as its dominant contributors, and calculate the possible worst supply voltage noise. We next propose a hybrid voltage regulation solution, based on a charge-recycling off-chip voltage regulator and distributed integrated voltage regulators, to mitigate supply voltage noise effectively. We also study the compatibility of voltage stacking with higher level power management techniques. Finally, the performance of a voltage-stacked GPU system is comprehensively evaluated. Simulation results show that our approach can achieve 93.5% power delivery efficiency, reducing the power loss by 13.6% compared to conventional single-layer power delivery system.
M. D. Hill and V. J. Reddi, “Accelerator-Level Parallelism,” arXiv, vol. arXiv:1907.02064v4 [cs.DC], 2019. arXiv VersionAbstract

Future applications demand more performance, but technology advances have been faltering. A promising approach to further improve computer system performance under energy constraints is to employ hardware accelerators. Already today, mobile systems concurrently employ multiple accelerators in what we call accelerator-level parallelism (ALP). To spread the benefits of ALP more broadly, we charge computer scientists to develop the science needed to best achieve the performance and cost goals of ALP hardware and software.

J. Leng, A. Buyuktosunoglu, R. Bertran, P. Bose, and V. J. Reddi, “Asymmetric Resilience for Accelerator-Rich Systems,” Computer Architecture Letters, 2019.Abstract
Accelerators are becoming popular owing to their exceptional performance and power-efficiency. However, researchers are yet to pay close attention to their reliability---a key challenge as technology scaling makes building reliable systems challenging. A straightforward solution to make accelerators reliable is to design the accelerator from the ground-up to be reliable by itself. However, such a myopic view of the system, where each accelerator is designed in isolation, is unsustainable as the number of integrated accelerators continues to rise in SoCs. To address this challenge, we propose a paradigm called "asymmetric resilience'' that avoids accelerator-specific reliability design. Instead, its core principle is to develop the reliable heterogeneous system around the CPU architecture. We explain the implications of architecting such a system and the modifications needed in a heterogeneous system to adopt such an approach. As an example, we demonstrate how to use asymmetric resilience to handle GPU execution errors using the CPU with minimal overhead. The general principles can be extended to include other accelerators.
P. Mattson, et al., “Mlperf training benchmark,” arXiv preprint arXiv:1910.01500, 2019.Abstract
Machine learning (ML) needs industry-standard performance benchmarks to support design and competitive evaluation of the many emerging software and hardware solutions for ML. But ML training presents three unique benchmarking challenges absent from other domains: optimizations that improve training throughput can increase the time to solution, training is stochastic and time to solution exhibits high variance, and software and hardware systems are so diverse that fair benchmarking with the same binary, code, and even hyperparameters is difficult. We therefore present MLPerf, an ML benchmark that overcomes these challenges. Our analysis quantitatively evaluates MLPerf's efficacy at driving performance and scalability improvements across two rounds of results from multiple vendors.
S. Krishnan, S. Chitlangia, M. Lam, Z. Wan, A. Faust, and V. J. Reddi, “Quantized Reinforcement Learning (QUARL),” arXiv preprint arXiv:1910.01055, 2019. arXivAbstract
Recent work has shown that quantization can help reduce the memory, compute, and energy demands of deep neural networks without significantly harming their quality. However, whether these prior techniques, applied traditionally to image-based models, work with the same efficacy to the sequential decision making process in reinforcement learning remains an unanswered question. To address this void, we conduct the first comprehensive empirical study that quantifies the effects of quantization on various deep reinforcement learning policies with the intent to reduce their computational resource demands. We apply techniques such as post-training quantization and quantization aware training to a spectrum of reinforcement learning tasks (such as Pong, Breakout, BeamRider and more) and training algorithms (such as PPO, A2C, DDPG, and DQN). Across this spectrum of tasks and learning algorithms, we show that policies can be quantized to 6-8 bits of precision without loss of accuracy. We also show that certain tasks and reinforcement learning algorithms yield policies that are more difficult to quantize due to their effect of widening the models' distribution of weights and that quantization aware training consistently improves results over post-training quantization and oftentimes even over the full precision baseline. Finally, we demonstrate real-world applications of quantization for reinforcement learning. We use half-precision training to train a Pong model 50% faster, and we deploy a quantized reinforcement learning based navigation policy to an embedded system, achieving an 18 speedup and a 4 reduction in memory usage over …
B. Boroujerdian, et al., “The Role of Compute in Autonomous Aerial Vehicles,” arXiv preprint arXiv:1906.10513, 2019.Abstract
Autonomous-mobile cyber-physical machines are part of our future. Specifically, unmanned-aerial-vehicles have seen a resurgence in activity with use-cases such as package delivery. These systems face many challenges such as their low-endurance caused by limited onboard-energy, hence, improving the mission-time and energy are of importance. Such improvements traditionally are delivered through better algorithms. But our premise is that more powerful and efficient onboard-compute should also address the problem. This paper investigates how the compute subsystem, in a cyber-physical mobile machine, such as a Micro Aerial Vehicle, impacts mission-time and energy. Specifically, we pose the question as what is the role of computing for cyber-physical mobile robots? We show that compute and motion are tightly intertwined, hence a close examination of cyber and physical processes and their impact on one another is necessary. We show different impact paths through which compute impacts mission-metrics and examine them using analytical models, simulation, and end-to-end benchmarking. To enable similar studies, we open sourced MAVBench, our tool-set consisting of a closed-loop simulator and a benchmark suite. Our investigations show cyber-physical co-design, a methodology where robot's cyber and physical processes/quantities are developed with one another consideration, similar to hardware-software co-design, is necessary for optimal robot design.
T. - W. Chin, C. - L. Yu, M. Halpern, H. Genc, S. - L. Tsao, and V. J. Reddi, “Domain-Specific Approximation for Object Detection,” IEEE Micro, vol. 38, no. 1, pp. 31–40, 2018. Publisher's VersionAbstract

In summary,

our contributions are as follows: • We investigate DSA and characterize the effectiveness of category-awareness. • We conduct a limit study to understand the benefit of applying approximation in a perframe manner with category-awareness (category-aware dynamic DSA). • We present the challenges of harnessing DSA and a proof-of-concept runtime.

V. J. Reddi, H. Yoon, and A. Knies, “Two Billion Devices and Counting,” IEEE Micro, vol. 38, no. 1, pp. 6–21, 2018. Publisher's VersionAbstract

Mobile computing has grown drastically over the past decade. Despite the rapid pace of advancements, mobile device understanding, benchmarking, and evaluation are still in their infancies, both in industry and academia. This article presents an industry perspective on the challenges facing mobile computer architecture, specifically involving mobile workloads, benchmarking, and experimental methodology, with the hope of fostering new research within the community to address pending problems. These challenges pose a threat to the systematic development of future mobile systems, which, if addressed, can elevate the entire mobile ecosystem to the next level.

Mobile devices have come a long way from the first portable cellular phone developed by Motorola in 1973. Most modern smartphones are good enough to replace desktop computers. A smartphone today has enough computing power to be on par with the fastest supercomputers from the 1990s.

For instance, the Qualcomm Adreno 540 GPU found in the latest smartphones has a peak compute capability of more than 500 Gflops, putting it in competition with supercomputers that were on the TOP500 list in the early to mid-1990s. Mobile computing has experienced an unparalleled level of growth over the past decade. At the time of this writing, there are more than 2 billion mobile devices in the world.1 But perhaps even more importantly, mobile phones are showing no signs of slowing in uptake. In fact, smartphone adoption rates are on the rise. The number of devices is rising as mobile device penetration increases in markets like India and China. It is anticipated that the number of mobile subscribers will grow past 6 billion in the coming years.2 As Figure 1 shows, while the Western European and North American markets are reaching saturation, the vast majority of growth is coming from countries in Asia. Given that only 35 percent of the world’s population has thus far adopted mobile technology, there is still significant room for growth and innovation.

Y. Zhu, et al., “Cognitive Computing Safety: The New Horizon for Reliability/The Design and Evolution of Deep Learning Workloads,” IEEE Micro, no. 1, pp. 15–21, 2017. Publisher's VersionAbstract

Recent advances in cognitive computing have brought widespread excitement for various machine learning–based intelligent services, ranging from autonomous vehicles to smart traffic-light systems. To push such cognitive services closer to reality, recent research has focused extensively on improving the performance, energy efficiency, privacy, and security of cognitive computing platforms.

Among all the issues, a rapidly rising and critical challenge to address is the practice of safe cognitive computing— that is, how to architect machine learning–based systems to be robust against uncertainty and failure to guarantee that they perform as intended without causing harmful behavior. Addressing the safety issue will involve close collaboration among different computing communities, and we believe computer architects must play a key role. In this position paper, we first discuss the meaning of safety and the severe implications of the safety issue in cognitive computing. We then provide a framework to reason about safety, and we outline several opportunities for the architecture community to help make cognitive computing safer.

H. Genc, Y. Zu, T. - W. Chin, M. Halpern, and V. J. Reddi, “Flying IoT: Toward Low-Power Vision in the Sky,” IEEE Micro, vol. 37, no. 6, pp. 40–51, 2017. Publisher's Version Paper