HALO 1.0: A Hardware-agnostic Accelerator Orchestration Framework for Enabling Hardware-agnostic Programming with True Performance Portability for Heterogeneous HPC

This paper presents HALO 1.0, an open-ended extensible multi-agent software framework that implements a set of proposed hardware-agnostic accelerator orchestration (HALO) principles. HALO implements a novel compute-centric message passing interface (C^2MPI) specification for enabling the performance-portable execution of a hardware-agnostic host application across heterogeneous accelerators. The experiment results of evaluating eight widely used HPC subroutines based on Intel Xeon E5-2620 CPUs, Intel Arria 10 GX FPGAs, and NVIDIA GeForce RTX 2080 Ti GPUs show that HALO 1.0 allows for a unified control flow for host programs to run across all the computing devices with a consistently top performance portability score, which is up to five orders of magnitude higher than the OpenCL-based solution.Comment: 21 page

FLASH 1.0: A Software Framework for Rapid Parallel Deployment and Enhancing Host Code Portability in Heterogeneous Computing

In this paper, we present FLASH 1.0, a C++-based software framework for rapid parallel deployment and enhancing host code portability in heterogeneous computing. FLASH takes a novel approach in describing kernels and dynamically dispatching them in a hardware-agnostic manner. FLASH features truly hardware-agnostic frontend interfaces, which not only unify the compile-time control flow but also enforces a portability-optimized code organization that imposes a demarcation between computational (performance-critical) and functional (non-performance-critical) codes as well as the separation of hardware-specific and hardware-agnostic codes in the host application. We use static code analysis to measure the hardware independence ratio of popular HPC applications and show that up to 99.72% code portability can be achieved with FLASH. Similarly, we measure the complexity of state-of-the-art portable programming models and show that a code reduction of up to 2.2x can be achieved for two common HPC kernels while maintaining 100% code portability with a normalized framework overhead between 1% - 13% of the total kernel runtime. The codes are available at https://github.com/PSCLab-ASU/FLASH.Comment: 12 page

Enhanced Low-resolution LiDAR-Camera Calibration Via Depth Interpolation and Supervised Contrastive Learning

Motivated by the increasing application of low-resolution LiDAR recently, we target the problem of low-resolution LiDAR-camera calibration in this work. The main challenges are two-fold: sparsity and noise in point clouds. To address the problem, we propose to apply depth interpolation to increase the point density and supervised contrastive learning to learn noise-resistant features. The experiments on RELLIS-3D demonstrate that our approach achieves an average mean absolute rotation/translation errors of 0.15cm/0.33\textdegree on 32-channel LiDAR point cloud data, which significantly outperforms all reference methods