3,286 research outputs found
Acceleration-as-a-Service: Exploiting Virtualised GPUs for a Financial Application
'How can GPU acceleration be obtained as a service in a cluster?' This
question has become increasingly significant due to the inefficiency of
installing GPUs on all nodes of a cluster. The research reported in this paper
is motivated to address the above question by employing rCUDA (remote CUDA), a
framework that facilitates Acceleration-as-a-Service (AaaS), such that the
nodes of a cluster can request the acceleration of a set of remote GPUs on
demand. The rCUDA framework exploits virtualisation and ensures that multiple
nodes can share the same GPU. In this paper we test the feasibility of the
rCUDA framework on a real-world application employed in the financial risk
industry that can benefit from AaaS in the production setting. The results
confirm the feasibility of rCUDA and highlight that rCUDA achieves similar
performance compared to CUDA, provides consistent results, and more
importantly, allows for a single application to benefit from all the GPUs
available in the cluster without loosing efficiency.Comment: 11th IEEE International Conference on eScience (IEEE eScience) -
Munich, Germany, 201
Cost Adaptation for Robust Decentralized Swarm Behaviour
Decentralized receding horizon control (D-RHC) provides a mechanism for
coordination in multi-agent settings without a centralized command center.
However, combining a set of different goals, costs, and constraints to form an
efficient optimization objective for D-RHC can be difficult. To allay this
problem, we use a meta-learning process -- cost adaptation -- which generates
the optimization objective for D-RHC to solve based on a set of human-generated
priors (cost and constraint functions) and an auxiliary heuristic. We use this
adaptive D-RHC method for control of mesh-networked swarm agents. This
formulation allows a wide range of tasks to be encoded and can account for
network delays, heterogeneous capabilities, and increasingly large swarms
through the adaptation mechanism. We leverage the Unity3D game engine to build
a simulator capable of introducing artificial networking failures and delays in
the swarm. Using the simulator we validate our method on an example coordinated
exploration task. We demonstrate that cost adaptation allows for more efficient
and safer task completion under varying environment conditions and increasingly
large swarm sizes. We release our simulator and code to the community for
future work.Comment: Accepted to IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS), 201
Deep HMResNet Model for Human Activity-Aware Robotic Systems
Endowing the robotic systems with cognitive capabilities for recognizing
daily activities of humans is an important challenge, which requires
sophisticated and novel approaches. Most of the proposed approaches explore
pattern recognition techniques which are generally based on hand-crafted
features or learned features. In this paper, a novel Hierarchal Multichannel
Deep Residual Network (HMResNet) model is proposed for robotic systems to
recognize daily human activities in the ambient environments. The introduced
model is comprised of multilevel fusion layers. The proposed Multichannel 1D
Deep Residual Network model is, at the features level, combined with a
Bottleneck MLP neural network to automatically extract robust features
regardless of the hardware configuration and, at the decision level, is fully
connected with an MLP neural network to recognize daily human activities.
Empirical experiments on real-world datasets and an online demonstration are
used for validating the proposed model. Results demonstrated that the proposed
model outperforms the baseline models in daily human activity recognition.Comment: Presented at AI-HRI AAAI-FSS, 2018 (arXiv:1809.06606
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