Optimisation massivement multi-tâche sur grappes de calcul hétérogènes – Application aux problèmes de permutation

Branch-and-Bound (B&B) is a frequently used tree-search exploratory method for the exact resolution of combinatorial optimization problems (COPs). However, in practice, only small problem instances can be solved on a sequential computer, as B&B generates often generates a huge amount of subproblems to be evaluated. In order to solve large COPs, we revisit the design and implementation of massively parallel B&B on top of large heterogeneous clusters, integrating multi-core CPUs, many-core processors and GPUs.For the efficient storage and management of subproblems an original data structure (IVM) dedicated to permutation problems is used. Because of the highly irregular and unpredictable shape of the B&B tree, dynamic load balancing between parallel exploration processes is one of the main issues addressed in this thesis. Based on a compact encoding of the search space in the form of intervals, work stealing strategies for multi-core and GPU are proposed, as well as hierarchical approaches for load balancing in distributed memory multi-CPU/multi-GPU systems. Three permutation problems, the Flowshop Scheduling Problem (FSP), the Quadratic Assignment Problem (QAP) and the n-Queens puzzle problem are used as test-cases.The resolution, in 9 hours, of a FSP instance with an estimated sequential execution time of 22 years demonstrates the scalability of the proposed algorithms on a cluster composed of 36 GPUs.L'algorithme Branch-and-Bound (B&B) est une méthode de recherche arborescente fréquemment utilisé pour la résolution exacte de problèmes d'optimisation combinatoire (POC). Néanmoins, seules des petites instances peuvent être effectivement résolues sur une machine séquentielle, le nombre de sous-problèmes à évaluer étant souvent très grand. Visant la resolution de POC de grande taille, nous réexaminons la conception et l'implémentation d'algorithmes B&B massivement parallèles sur de larges plateformes hétérogènes de calcul, intégrant des processeurs multi-coeurs, many-cores et et processeurs graphiques (GPUs). Pour une représentation compacte en mémoire des sous-problèmes une structure de données originale (IVM), dédiée aux problèmes de permutation est utilisée. En raison de la forte irrégularité de l'arbre de recherche, l'équilibrage de charge dynamique entre processus d'exploration parallèles occupe une place centrale dans cette thèse. Basés sur un encodage compact de l'espace de recherche sous forme d'intervalles, des stratégies de vol de tâches sont proposées pour processeurs multi-core et GPU, ainsi une approche hiérarchique pour l'équilibrage de charge dans les systèmes multi-GPU et multi-CPU à mémoire distribuée. Trois problèmes d'optimisation définis sur l'ensemble des permutations, le problème d'ordonnancement Flow-Shop (FSP), d'affectation quadratique (QAP) et le problème des n-dames sont utilisés comme cas d'étude. La resolution en 9 heures d'une instance du FSP dont le temps de résolution séquentiel est estimé à 22 ans demontre la capacité de passage à l'échelle des algorithmes proposés sur une grappe de calcul composé de 36 GPUs

Parallel Branch-and-Bound in Multi-core Multi-CPU Multi-GPU Heterogeneous Environments

International audienceWe investigate the design of parallel B&B in large scale heterogeneous compute environments where processing units can be composed of a mixture of multiple shared memory cores, multiple distributed CPUs and multiple GPUs devices. We describe two approaches addressing the critical issue of how to map B&B workload with the different levels of parallelism exposed by the target compute platform. We also contribute a throughout large scale experimental study which allows us to derive a comprehensive and fair analysis of the proposed approaches under different system configurations using up to 16 GPUs and up to 512 CPU-cores. Our results shed more light on the main challenges one has to face when tackling B&B algorithms while describing efficient techniques to address them. In particular, we are able to obtain linear speed-ups at moderate scales where adaptive load balancing among the heterogeneous compute resources is shown to have a significant impact on performance. At the largest scales, intra-node parallelism and hybrid decentralized load balancing is shown to have a crucial importance in order to alleviate locking issues among shared memory threads and to scale the distributed resources while optimizing communication costs and minimizing idle time

Applied (Meta)-Heuristic in Intelligent Systems

Engineering and business problems are becoming increasingly difficult to solve due to the new economics triggered by big data, artificial intelligence, and the internet of things. Exact algorithms and heuristics are insufficient for solving such large and unstructured problems; instead, metaheuristic algorithms have emerged as the prevailing methods. A generic metaheuristic framework guides the course of search trajectories beyond local optimality, thus overcoming the limitations of traditional computation methods. The application of modern metaheuristics ranges from unmanned aerial and ground surface vehicles, unmanned factories, resource-constrained production, and humanoids to green logistics, renewable energy, circular economy, agricultural technology, environmental protection, finance technology, and the entertainment industry. This Special Issue presents high-quality papers proposing modern metaheuristics in intelligent systems

A Synergy between On- and Off-Chip Data Reuse for GPU-based Out-of-Core Stencil Computation

Stencil computation is an extensively-utilized class of scientific-computing applications that can be efficiently accelerated by graphics processing units (GPUs). Out-of-core approaches enable a GPU to handle large stencil codes whose data size is beyond the memory capacity of the GPU. However, current research on out-of-core stencil computation primarily focus on minimizing the amount of data transferred between the CPU and GPU. Few studies consider simultaneously optimizing data transfer and kernel execution. To fill the research gap, this work presents a synergy between on- and off-chip data reuse for out-of-core stencil codes, termed SO2DR. First, overlapping regions between data chunks are shared in the off-chip memory to eliminate redundant CPU-GPU data transfer. Secondly, redundant computation at the off-chip memory level is intentionally introduced to decouple kernel execution from region sharing, hence enabling data reuse in the on-chip memory. Experimental results demonstrate that SO2DR significantly enhances the kernel-execution performance while reducing the CPU-GPU data-transfer time. Specifically, SO2DR achieves average speedups of 2.78x and 1.14x for five stencil benchmarks, compared to an out-of-core stencil code which is free of redundant transfer and computation, and an in-core stencil code which is free of data transfer, respectively.Comment: 9 pages, 10 figure

Preventing premature convergence and proving the optimality in evolutionary algorithms

http://ea2013.inria.fr//proceedings.pdfInternational audienceEvolutionary Algorithms (EA) usually carry out an efficient exploration of the search-space, but get often trapped in local minima and do not prove the optimality of the solution. Interval-based techniques, on the other hand, yield a numerical proof of optimality of the solution. However, they may fail to converge within a reasonable time due to their inability to quickly compute a good approximation of the global minimum and their exponential complexity. The contribution of this paper is a hybrid algorithm called Charibde in which a particular EA, Differential Evolution, cooperates with a Branch and Bound algorithm endowed with interval propagation techniques. It prevents premature convergence toward local optima and outperforms both deterministic and stochastic existing approaches. We demonstrate its efficiency on a benchmark of highly multimodal problems, for which we provide previously unknown global minima and certification of optimality

Differentiable world programs

L'intelligence artificielle (IA) moderne a ouvert de nouvelles perspectives prometteuses pour la création de robots intelligents. En particulier, les architectures d'apprentissage basées sur le gradient (réseaux neuronaux profonds) ont considérablement amélioré la compréhension des scènes 3D en termes de perception, de raisonnement et d'action. Cependant, ces progrès ont affaibli l'attrait de nombreuses techniques ``classiques'' développées au cours des dernières décennies. Nous postulons qu'un mélange de méthodes ``classiques'' et ``apprises'' est la voie la plus prometteuse pour développer des modèles du monde flexibles, interprétables et exploitables : une nécessité pour les agents intelligents incorporés. La question centrale de cette thèse est : ``Quelle est la manière idéale de combiner les techniques classiques avec des architectures d'apprentissage basées sur le gradient pour une compréhension riche du monde 3D ?''. Cette vision ouvre la voie à une multitude d'applications qui ont un impact fondamental sur la façon dont les agents physiques perçoivent et interagissent avec leur environnement. Cette thèse, appelée ``programmes différentiables pour modèler l'environnement'', unifie les efforts de plusieurs domaines étroitement liés mais actuellement disjoints, notamment la robotique, la vision par ordinateur, l'infographie et l'IA. Ma première contribution---gradSLAM--- est un système de localisation et de cartographie simultanées (SLAM) dense et entièrement différentiable. En permettant le calcul du gradient à travers des composants autrement non différentiables tels que l'optimisation non linéaire par moindres carrés, le raycasting, l'odométrie visuelle et la cartographie dense, gradSLAM ouvre de nouvelles voies pour intégrer la reconstruction 3D classique et l'apprentissage profond. Ma deuxième contribution - taskography - propose une sparsification conditionnée par la tâche de grandes scènes 3D encodées sous forme de graphes de scènes 3D. Cela permet aux planificateurs classiques d'égaler (et de surpasser) les planificateurs de pointe basés sur l'apprentissage en concentrant le calcul sur les attributs de la scène pertinents pour la tâche. Ma troisième et dernière contribution---gradSim--- est un simulateur entièrement différentiable qui combine des moteurs physiques et graphiques différentiables pour permettre l'estimation des paramètres physiques et le contrôle visuomoteur, uniquement à partir de vidéos ou d'une image fixe.Modern artificial intelligence (AI) has created exciting new opportunities for building intelligent robots. In particular, gradient-based learning architectures (deep neural networks) have tremendously improved 3D scene understanding in terms of perception, reasoning, and action. However, these advancements have undermined many ``classical'' techniques developed over the last few decades. We postulate that a blend of ``classical'' and ``learned'' methods is the most promising path to developing flexible, interpretable, and actionable models of the world: a necessity for intelligent embodied agents. ``What is the ideal way to combine classical techniques with gradient-based learning architectures for a rich understanding of the 3D world?'' is the central question in this dissertation. This understanding enables a multitude of applications that fundamentally impact how embodied agents perceive and interact with their environment. This dissertation, dubbed ``differentiable world programs'', unifies efforts from multiple closely-related but currently-disjoint fields including robotics, computer vision, computer graphics, and AI. Our first contribution---gradSLAM---is a fully differentiable dense simultaneous localization and mapping (SLAM) system. By enabling gradient computation through otherwise non-differentiable components such as nonlinear least squares optimization, ray casting, visual odometry, and dense mapping, gradSLAM opens up new avenues for integrating classical 3D reconstruction and deep learning. Our second contribution---taskography---proposes a task-conditioned sparsification of large 3D scenes encoded as 3D scene graphs. This enables classical planners to match (and surpass) state-of-the-art learning-based planners by focusing computation on task-relevant scene attributes. Our third and final contribution---gradSim---is a fully differentiable simulator that composes differentiable physics and graphics engines to enable physical parameter estimation and visuomotor control, solely from videos or a still image

Algorithmic skeletons for exact combinatorial search at scale

Exact combinatorial search is essential to a wide range of application areas including constraint optimisation, graph matching, and computer algebra. Solutions to combinatorial problems are found by systematically exploring a search space, either to enumerate solutions, determine if a specific solution exists, or to find an optimal solution. Combinatorial searches are computationally hard both in theory and practice, and efficiently exploring the huge number of combinations is a real challenge, often addressed using approximate search algorithms. Alternatively, exact search can be parallelised to reduce execution time. However, parallel search is challenging due to both highly irregular search trees and sensitivity to search order, leading to anomalies that can cause unexpected speedups and slowdowns. As core counts continue to grow, parallel search becomes increasingly useful for improving the performance of existing searches, and allowing larger instances to be solved. A high-level approach to parallel search allows non-expert users to benefit from increasing core counts. Algorithmic Skeletons provide reusable implementations of common parallelism patterns that are parameterised with user code which determines the specific computation, e.g. a particular search. We define a set of skeletons for exact search, requiring the user to provide in the minimal case a single class that specifies how the search tree is generated and a parameter that specifies the type of search required. The five are: Sequential search; three general-purpose parallel search methods: Depth-Bounded, Stack-Stealing, and Budget; and a specific parallel search method, Ordered, that guarantees replicable performance. We implement and evaluate the skeletons in a new C++ parallel search framework, YewPar. YewPar provides both high-level skeletons and low-level search specific schedulers and utilities to deal with the irregularity of search and knowledge exchange between workers. YewPar is based on the HPX library for distributed task-parallelism potentially allowing search to execute on multi-cores, clusters, cloud, and high performance computing systems. Underpinning the skeleton design is a novel formal model, MT^3 , a parallel operational semantics that describes multi-threaded tree traversals, allowing reasoning about parallel search, e.g. describing common parallel search phenomena such as performance anomalies. YewPar is evaluated using seven different search applications (and over 25 specific instances): Maximum Clique, k-Clique, Subgraph Isomorphism, Travelling Salesperson, Binary Knapsack, Enumerating Numerical Semigroups, and the Unbalanced Tree Search Benchmark. The search instances are evaluated at multiple scales from 1 to 255 workers, on a 17 host, 272 core Beowulf cluster. The overheads of the skeletons are low, with a mean 6.1% slowdown compared to hand-coded sequential implementation. Crucially, for all search applications YewPar reduces search times by an order of magnitude, i.e hours/minutes to minutes/seconds, and we commonly see greater than 60% (average) parallel efficiency speedups for up to 255 workers. Comparing skeleton performance reveals that no one skeleton is best for all searches, highlighting a benefit of a skeleton approach that allows multiple parallelisations to be explored with minimal refactoring. The Ordered skeleton avoids slowdown anomalies where, due to search knowledge being order dependent, a parallel search takes longer than a sequential search. Analysis of Ordered shows that, while being 41% slower on average (73% worse-case) than Depth-Bounded, in nearly all cases it maintains the following replicable performance properties: 1) parallel executions are no slower than one worker sequential executions 2) runtimes do not increase as workers are added, and 3) variance between repeated runs is low. In particular, where Ordered maintains a relative standard deviation (RSD) of less than 15%, Depth-Bounded suffers from an RSD greater than 50%, showing the importance of carefully controlling search orders for repeatability

HEDCOS: High Efficiency Dynamic Combinatorial Optimization System using Ant Colony Optimization algorithm

This thesis was submitted for the award of Doctor of Philosophy and was awarded by Brunel University LondonDynamic combinatorial optimization is gaining popularity among industrial practitioners due to the ever-increasing scale of their optimization problems and efforts to solve them to remain competitive. Larger optimization problems are not only more computationally intense to optimize but also have more uncertainty within problem inputs. If some aspects of the problem are subject to dynamic change, it becomes a Dynamic Optimization Problem (DOP). In this thesis, a High Efficiency Dynamic Combinatorial Optimization System is built to solve challenging DOPs with high-quality solutions. The system is created using Ant Colony Optimization (ACO) baseline algorithm with three novel developments. First, introduced an extension method for ACO algorithm called Dynamic Impact. Dynamic Impact is designed to improve convergence and solution quality by solving challenging optimization problems with a non-linear relationship between resource consumption and fitness. This proposed method is tested against the real-world Microchip Manufacturing Plant Production Floor Optimization (MMPPFO) problem and the theoretical benchmark Multidimensional Knapsack Problem (MKP). Second, a non-stochastic dataset generation method was introduced to solve the dynamic optimization research replicability problem. This method uses a static benchmark dataset as a starting point and source of entropy to generate a sequence of dynamic states. Then using this method, 1405 Dynamic Multidimensional Knapsack Problem (DMKP) benchmark datasets were generated and published using famous static MKP benchmark instances as the initial state. Third, introduced a nature-inspired discrete dynamic optimization strategy for ACO by modelling real-world ants’ symbiotic relationship with aphids. ACO with Aphids strategy is designed to solve discrete domain DOPs with event-triggered discrete dynamism. The strategy improved inter-state convergence by allowing better solution recovery after dynamic environment changes. Aphids mediate the information from previous dynamic optimization states to maximize initial results performance and minimize the impact on convergence speed. This strategy is tested for DMKP and against identical ACO implementations using Full-Restart and Pheromone-Sharing strategies, with all other variables isolated. Overall, Dynamic Impact and ACO with Aphids developments are compounding. Using Dynamic Impact on single objective optimization of MMPPFO, the fitness value was improved by 33.2% over the ACO algorithm without Dynamic Impact. MKP benchmark instances of low complexity have been solved to a 100% success rate even when a high degree of solution sparseness is observed, and large complexity instances have shown the average gap improved by 4.26 times. ACO with Aphids has also demonstrated superior performance over the Pheromone-Sharing strategy in every test on average gap reduced by 29.2% for a total compounded dynamic optimization performance improvement of 6.02 times. Also, ACO with Aphids has outperformed the Full-Restart strategy for large datasets groups, and the overall average gap is reduced by 52.5% for a total compounded dynamic optimization performance improvement of 8.99 times