102,440 research outputs found
On Performance Estimation in Automatic Algorithm Configuration
Over the last decade, research on automated parameter tuning, often referred
to as automatic algorithm configuration (AAC), has made significant progress.
Although the usefulness of such tools has been widely recognized in real world
applications, the theoretical foundations of AAC are still very weak. This
paper addresses this gap by studying the performance estimation problem in AAC.
More specifically, this paper first proves the universal best performance
estimator in a practical setting, and then establishes theoretical bounds on
the estimation error, i.e., the difference between the training performance and
the true performance for a parameter configuration, considering finite and
infinite configuration spaces respectively. These findings were verified in
extensive experiments conducted on four algorithm configuration scenarios
involving different problem domains. Moreover, insights for enhancing existing
AAC methods are also identified.Comment: accepted by AAAI 202
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An evaluation framework for stereo-based driver assistance
This is the post-print version of the Article - Copyright @ 2012 Springer VerlagThe accuracy of stereo algorithms or optical flow methods is commonly assessed by comparing the results against the Middlebury
database. However, equivalent data for automotive or robotics applications
rarely exist as they are difficult to obtain. As our main contribution, we introduce an evaluation framework tailored for stereo-based driver assistance able to deliver excellent performance measures while
circumventing manual label effort. Within this framework one can combine several ways of ground-truthing, different comparison metrics, and use large image databases.
Using our framework we show examples on several types of ground truthing techniques: implicit ground truthing (e.g. sequence recorded without a crash occurred), robotic vehicles with high precision sensors, and to a small extent, manual labeling. To show the effectiveness of our evaluation framework we compare three different stereo algorithms on
pixel and object level. In more detail we evaluate an intermediate representation
called the Stixel World. Besides evaluating the accuracy of the Stixels, we investigate the completeness (equivalent to the detection rate) of the StixelWorld vs. the number of phantom Stixels. Among many findings, using this framework enables us to reduce the number of phantom Stixels by a factor of three compared to the base parametrization. This base parametrization has already been optimized by test driving vehicles for distances exceeding 10000 km
Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation
Many algorithms for control, optimization and estimation in robotics depend
on derivatives of the underlying system dynamics, e.g. to compute
linearizations, sensitivities or gradient directions. However, we show that
when dealing with Rigid Body Dynamics, these derivatives are difficult to
derive analytically and to implement efficiently. To overcome this issue, we
extend the modelling tool `RobCoGen' to be compatible with Automatic
Differentiation. Additionally, we propose how to automatically obtain the
derivatives and generate highly efficient source code. We highlight the
flexibility and performance of the approach in two application examples. First,
we show a Trajectory Optimization example for the quadrupedal robot HyQ, which
employs auto-differentiation on the dynamics including a contact model. Second,
we present a hardware experiment in which a 6 DoF robotic arm avoids a randomly
moving obstacle in a go-to task by fast, dynamic replanning
autoAx: An Automatic Design Space Exploration and Circuit Building Methodology utilizing Libraries of Approximate Components
Approximate computing is an emerging paradigm for developing highly
energy-efficient computing systems such as various accelerators. In the
literature, many libraries of elementary approximate circuits have already been
proposed to simplify the design process of approximate accelerators. Because
these libraries contain from tens to thousands of approximate implementations
for a single arithmetic operation it is intractable to find an optimal
combination of approximate circuits in the library even for an application
consisting of a few operations. An open problem is "how to effectively combine
circuits from these libraries to construct complex approximate accelerators".
This paper proposes a novel methodology for searching, selecting and combining
the most suitable approximate circuits from a set of available libraries to
generate an approximate accelerator for a given application. To enable fast
design space generation and exploration, the methodology utilizes machine
learning techniques to create computational models estimating the overall
quality of processing and hardware cost without performing full synthesis at
the accelerator level. Using the methodology, we construct hundreds of
approximate accelerators (for a Sobel edge detector) showing different but
relevant tradeoffs between the quality of processing and hardware cost and
identify a corresponding Pareto-frontier. Furthermore, when searching for
approximate implementations of a generic Gaussian filter consisting of 17
arithmetic operations, the proposed approach allows us to identify
approximately highly important implementations from possible
solutions in a few hours, while the exhaustive search would take four months on
a high-end processor.Comment: Accepted for publication at the Design Automation Conference 2019
(DAC'19), Las Vegas, Nevada, US
AutoAccel: Automated Accelerator Generation and Optimization with Composable, Parallel and Pipeline Architecture
CPU-FPGA heterogeneous architectures are attracting ever-increasing attention
in an attempt to advance computational capabilities and energy efficiency in
today's datacenters. These architectures provide programmers with the ability
to reprogram the FPGAs for flexible acceleration of many workloads.
Nonetheless, this advantage is often overshadowed by the poor programmability
of FPGAs whose programming is conventionally a RTL design practice. Although
recent advances in high-level synthesis (HLS) significantly improve the FPGA
programmability, it still leaves programmers facing the challenge of
identifying the optimal design configuration in a tremendous design space.
This paper aims to address this challenge and pave the path from software
programs towards high-quality FPGA accelerators. Specifically, we first propose
the composable, parallel and pipeline (CPP) microarchitecture as a template of
accelerator designs. Such a well-defined template is able to support efficient
accelerator designs for a broad class of computation kernels, and more
importantly, drastically reduce the design space. Also, we introduce an
analytical model to capture the performance and resource trade-offs among
different design configurations of the CPP microarchitecture, which lays the
foundation for fast design space exploration. On top of the CPP
microarchitecture and its analytical model, we develop the AutoAccel framework
to make the entire accelerator generation automated. AutoAccel accepts a
software program as an input and performs a series of code transformations
based on the result of the analytical-model-based design space exploration to
construct the desired CPP microarchitecture. Our experiments show that the
AutoAccel-generated accelerators outperform their corresponding software
implementations by an average of 72x for a broad class of computation kernels
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