Exascale Deep Learning for Climate Analytics

We extract pixel-level masks of extreme weather patterns using variants of Tiramisu and DeepLabv3+ neural networks. We describe improvements to the software frameworks, input pipeline, and the network training algorithms necessary to efficiently scale deep learning on the Piz Daint and Summit systems. The Tiramisu network scales to 5300 P100 GPUs with a sustained throughput of 21.0 PF/s and parallel efficiency of 79.0%. DeepLabv3+ scales up to 27360 V100 GPUs with a sustained throughput of 325.8 PF/s and a parallel efficiency of 90.7% in single precision. By taking advantage of the FP16 Tensor Cores, a half-precision version of the DeepLabv3+ network achieves a peak and sustained throughput of 1.13 EF/s and 999.0 PF/s respectively.Comment: 12 pages, 5 tables, 4, figures, Super Computing Conference November 11-16, 2018, Dallas, TX, US

Event-based Vision: A Survey

Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time, location and sign of the brightness changes. Event cameras offer attractive properties compared to traditional cameras: high temporal resolution (in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low power consumption, and high pixel bandwidth (on the order of kHz) resulting in reduced motion blur. Hence, event cameras have a large potential for robotics and computer vision in challenging scenarios for traditional cameras, such as low-latency, high speed, and high dynamic range. However, novel methods are required to process the unconventional output of these sensors in order to unlock their potential. This paper provides a comprehensive overview of the emerging field of event-based vision, with a focus on the applications and the algorithms developed to unlock the outstanding properties of event cameras. We present event cameras from their working principle, the actual sensors that are available and the tasks that they have been used for, from low-level vision (feature detection and tracking, optic flow, etc.) to high-level vision (reconstruction, segmentation, recognition). We also discuss the techniques developed to process events, including learning-based techniques, as well as specialized processors for these novel sensors, such as spiking neural networks. Additionally, we highlight the challenges that remain to be tackled and the opportunities that lie ahead in the search for a more efficient, bio-inspired way for machines to perceive and interact with the world

Cortical Synchronization and Perceptual Framing

How does the brain group together different parts of an object into a coherent visual object representation? Different parts of an object may be processed by the brain at different rates and may thus become desynchronized. Perceptual framing is a process that resynchronizes cortical activities corresponding to the same retinal object. A neural network model is presented that is able to rapidly resynchronize clesynchronized neural activities. The model provides a link between perceptual and brain data. Model properties quantitatively simulate perceptual framing data, including psychophysical data about temporal order judgments and the reduction of threshold contrast as a function of stimulus length. Such a model has earlier been used to explain data about illusory contour formation, texture segregation, shape-from-shading, 3-D vision, and cortical receptive fields. The model hereby shows how many data may be understood as manifestations of a cortical grouping process that can rapidly resynchronize image parts which belong together in visual object representations. The model exhibits better synchronization in the presence of noise than without noise, a type of stochastic resonance, and synchronizes robustly when cells that represent different stimulus orientations compete. These properties arise when fast long-range cooperation and slow short-range competition interact via nonlinear feedback interactions with cells that obey shunting equations.Office of Naval Research (N00014-92-J-1309, N00014-95-I-0409, N00014-95-I-0657, N00014-92-J-4015); Air Force Office of Scientific Research (F49620-92-J-0334, F49620-92-J-0225)

Efficient machine learning: models and accelerations

One of the key enablers of the recent unprecedented success of machine learning is the adoption of very large models. Modern machine learning models typically consist of multiple cascaded layers such as deep neural networks, and at least millions to hundreds of millions of parameters (i.e., weights) for the entire model. The larger-scale model tend to enable the extraction of more complex high-level features, and therefore, lead to a significant improvement of the overall accuracy. On the other side, the layered deep structure and large model sizes also demand to increase computational capability and memory requirements. In order to achieve higher scalability, performance, and energy efficiency for deep learning systems, two orthogonal research and development trends have attracted enormous interests. The first trend is the acceleration while the second is the model compression. The underlying goal of these two trends is the high quality of the models to provides accurate predictions. In this thesis, we address these two problems and utilize different computing paradigms to solve real-life deep learning problems. To explore in these two domains, this thesis first presents the cogent confabulation network for sentence completion problem. We use Chinese language as a case study to describe our exploration of the cogent confabulation based text recognition models. The exploration and optimization of the cogent confabulation based models have been conducted through various comparisons. The optimized network offered a better accuracy performance for the sentence completion. To accelerate the sentence completion problem in a multi-processing system, we propose a parallel framework for the confabulation recall algorithm. The parallel implementation reduce runtime, improve the recall accuracy by breaking the fixed evaluation order and introducing more generalization, and maintain a balanced progress in status update among all neurons. A lexicon scheduling algorithm is presented to further improve the model performance. As deep neural networks have been proven effective to solve many real-life applications, and they are deployed on low-power devices, we then investigated the acceleration for the neural network inference using a hardware-friendly computing paradigm, stochastic computing. It is an approximate computing paradigm which requires small hardware footprint and achieves high energy efficiency. Applying this stochastic computing to deep convolutional neural networks, we design the functional hardware blocks and optimize them jointly to minimize the accuracy loss due to the approximation. The synthesis results show that the proposed design achieves the remarkable low hardware cost and power/energy consumption. Modern neural networks usually imply a huge amount of parameters which cannot be fit into embedded devices. Compression of the deep learning models together with acceleration attracts our attention. We introduce the structured matrices based neural network to address this problem. Circulant matrix is one of the structured matrices, where a matrix can be represented using a single vector, so that the matrix is compressed. We further investigate a more flexible structure based on circulant matrix, called block-circulant matrix. It partitions a matrix into several smaller blocks and makes each submatrix is circulant. The compression ratio is controllable. With the help of Fourier Transform based equivalent computation, the inference of the deep neural network can be accelerated energy efficiently on the FPGAs. We also offer the optimization for the training algorithm for block circulant matrices based neural networks to obtain a high accuracy after compression

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved