A GPU-based hyperbolic SVD algorithm

A one-sided Jacobi hyperbolic singular value decomposition (HSVD) algorithm, using a massively parallel graphics processing unit (GPU), is developed. The algorithm also serves as the final stage of solving a symmetric indefinite eigenvalue problem. Numerical testing demonstrates the gains in speed and accuracy over sequential and MPI-parallelized variants of similar Jacobi-type HSVD algorithms. Finally, possibilities of hybrid CPU--GPU parallelism are discussed.Comment: Accepted for publication in BIT Numerical Mathematic

Designing a CPU model: from a pseudo-formal document to fast code

For validating low level embedded software, engineers use simulators that take the real binary as input. Like the real hardware, these full-system simulators are organized as a set of components. The main component is the CPU simulator (ISS), because it is the usual bottleneck for the simulation speed, and its development is a long and repetitive task. Previous work showed that an ISS can be generated from an Architecture Description Language (ADL). In the work reported in this paper, we generate a CPU simulator directly from the pseudo-formal descriptions of the reference manual. For each instruction, we extract the information describing its behavior, its binary encoding, and its assembly syntax. Next, after automatically applying many optimizations on the extracted information, we generate a SystemC/TLM ISS. We also generate tests for the decoder and a formal specification in Coq. Experiments show that the generated ISS is as fast and stable as our previous hand-written ISS.Comment: 3rd Workshop on: Rapid Simulation and Performance Evaluation: Methods and Tools (2011

Symbol-Based Successive Cancellation List Decoder for Polar Codes

Polar codes is promising because they can provably achieve the channel capacity while having an explicit construction method. Lots of work have been done for the bit-based decoding algorithm for polar codes. In this paper, generalized symbol-based successive cancellation (SC) and SC list decoding algorithms are discussed. A symbol-based recursive channel combination relationship is proposed to calculate the symbol-based channel transition probability. This proposed method needs less additions than the maximum-likelihood decoder used by the existing symbol-based polar decoding algorithm. In addition, a two-stage list pruning network is proposed to simplify the list pruning network for the symbol-based SC list decoding algorithm.Comment: Accepted by 2014 IEEE Workshop on Signal Processing Systems (SiPS

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g., video demonstration of a task) and recursively decomposes it into finer sub-task specifications. These specifications are fed to a hierarchical neural program, where bottom-level programs are callable subroutines that interact with the environment. We validate our method in three robot manipulation tasks. NTP achieves strong generalization across sequential tasks that exhibit hierarchal and compositional structures. The experimental results show that NTP learns to generalize well to- wards unseen tasks with increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201