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1. Continuous integration and testing for autonomous racing software: An experience report from GRAIC

   https://doi.org/10.13140/RG.2.2.28270.33605  

   Jiang, Minghao ; Miller, Kristina ; Sun, Dawei ; Liu, Zexiang ; Jia, Yixuan ; Datta, Arnab ; Ozay, Necmiye ; Mitra, Sayan ( May 2021 , IEEE ICRA 2021, International Conference on Robotics and Automation, Workshop on OPPORTUNITIES AND CHALLENGES WITH AUTONOMOUS RACING)

   Self-driving autonomous vehicles (AVs) have recently gained popularity as a research topic. The safety of AVs is exceptionally important as failure in the design of an AV could lead to catastrophic consequences. AV systems are highly heterogeneous with many different and complex components, so it is difficult to perform end-to-end testing. One solution to this dilemma is to evaluate AVs using simulated racing competition. In this thesis, we present a simulated autonomous racing competition, Generalized RAcing Intelligence Competition (GRAIC). To compete in GRAIC, participants need to submit their controller files which are deployed on a racing ego-vehicle on different racemore »tracks. To evaluate the submitted controller, we also developed a testing pipeline, Autonomous System Operations (AutOps). AutOps is an automated, scalable, and fair testing pipeline developed using software engineering techniques such as continuous integration, containerization, and serverless computing. In order to evaluate the submitted controller in non-trivial circumstances, we populate the race tracks with scenarios, which are pre-defined traffic situations commonly seen in the real road. We present a dynamic scenario testing strategy that generates new scenarios based on results of the ego-vehicle passing through previous scenarios.« less
2. Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing

   Betz, Johannes ; Zheng, Hongrui ; Liniger, Alexander ; Rosolia, Ugo ; Karle, Phillip ; Behl, Madhur ; Krovi, Venkat ; Mangharam, Rahul ( February 2022 , ArXivorg)

   The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware for high performance race vehicles which aim to operate autonomously on the edge of the vehicles limits: High speeds, high accelerations, low reaction times, highly uncertain, dynamic and adversarial environments. This paper represents the first holistic survey that covers the research in the field of autonomous racing. We focus on the field of autonomous racecars only and display the algorithms, methods and approaches that are used in the fields of perception, planningmore »and control as well as end-to-end learning. Further, with an increasing number of autonomous racing competitions, researchers now have access to a range of high performance platforms to test and evaluate their autonomy algorithms. This survey presents a comprehensive overview of the current autonomous racing platforms emphasizing both the software-hardware co-evolution to the current stage. Finally, based on additional discussion with leading researchers in the field we conclude with a summary of open research challenges that will guide future researchers in this field.« less
3. UVMBench: A Comprehensive Benchmark Suite for Researching Unified Virtual Memory in GPUs

   Gu, Yongbin ; Wu, Wenxuan ; Li, Yunfan ; Chen, Lizhong ( July 2021 , International Conference on Scientific Computing)

   The recent introduction of Unified Virtual Memory (UVM) in GPUs offers a new programming model that allows GPUs and CPUs to share the same virtual memory space, which shifts the complex memory management from programmers to GPU driver/ hardware and enables kernel execution even when memory is oversubscribed. Meanwhile, UVM may also incur considerable performance overhead due to tracking and data migration along with special handling of page faults and page table walk. As UVM is attracting significant attention from the research community to develop innovative solutions to these problems, in this paper, we propose a comprehensive UVM benchmark suitemore »named UVMBench to facilitate future research on this important topic. The proposed UVMBench consists of 32 representative benchmarks from a wide range of application domains. The suite also features unified programming implementation and diverse memory access patterns across benchmarks, thus allowing thorough evaluation and comparison with current state-of-the-art. A set of experiments have been conducted on real GPUs to verify and analyze the benchmark suite behaviors under various scenarios.« less
4. Invisible for both Camera and LiDAR: Security of Multi-Sensor Fusion based Perception in Autonomous Driving Under Physical-World Attacks

   Cao, Yulong ; Wang, Ningfei ; Xiao, Chaowei ; Yang, Dawei ; Fang, Jin ; Yang, Ruigang ; Chen, Qi Alfred ; Liu, Mingyan ; Li, Bo ( January 2021 , IEEE Symposium on Security and Privacy (S&P))

   In Autonomous Driving (AD) systems, perception is both security and safety critical. Despite various prior studies on its security issues, all of them only consider attacks on cameraor LiDAR-based AD perception alone. However, production AD systems today predominantly adopt a Multi-Sensor Fusion (MSF) based design, which in principle can be more robust against these attacks under the assumption that not all fusion sources are (or can be) attacked at the same time. In this paper, we present the first study of security issues of MSF-based perception in AD systems. We directly challenge the basic MSF design assumption above by exploringmore »the possibility of attacking all fusion sources simultaneously. This allows us for the first time to understand how much security guarantee MSF can fundamentally provide as a general defense strategy for AD perception. We formulate the attack as an optimization problem to generate a physically-realizable, adversarial 3D-printed object that misleads an AD system to fail in detecting it and thus crash into it. To systematically generate such a physical-world attack, we propose a novel attack pipeline that addresses two main design challenges: (1) non-differentiable target camera and LiDAR sensing systems, and (2) non-differentiable cell-level aggregated features popularly used in LiDAR-based AD perception. We evaluate our attack on MSF algorithms included in representative open-source industry-grade AD systems in real-world driving scenarios. Our results show that the attack achieves over 90% success rate across different object types and MSF algorithms. Our attack is also found stealthy, robust to victim positions, transferable across MSF algorithms, and physical-world realizable after being 3D-printed and captured by LiDAR and camera devices. To concretely assess the end-to-end safety impact, we further perform simulation evaluation and show that it can cause a 100% vehicle collision rate for an industry-grade AD system. We also evaluate and discuss defense strategies.« less
5. UNIT: Unifying Tensorized Instruction Compilation

   https://doi.org/10.1109/CGO51591.2021.9370330  

   Weng, Jian ; Jain, Animesh ; Wang, Jie ; Wang, Leyuan ; Wang, Yida ; Nowatzki, Tony ( February 2021 , 2021 IEEE/ACM International Symposium on Code Generation and Optimization (CGO))

   Because of the increasing demand for intensive computation in deep neural networks, researchers have developed both hardware and software mechanisms to reduce the compute and memory burden. A widely adopted approach is to use mixed precision data types. However, it is hard to benefit from mixed precision without hardware specialization because of the overhead of data casting. Recently, hardware vendors offer tensorized instructions specialized for mixed-precision tensor operations, such as Intel VNNI, Nvidia Tensor Core, and ARM DOT. These instructions involve a new computing idiom, which reduces multiple low precision elements into one high precision element. The lack of compilationmore »techniques for this emerging idiom makes it hard to utilize these instructions. In practice, one approach is to use vendor-provided libraries for computationally-intensive kernels, but this is inflexible and prevents further optimizations. Another approach is to manually write hardware intrinsics, which is error-prone and difficult for programmers. Some prior works tried to address this problem by creating compilers for each instruction. This requires excessive efforts when it comes to many tensorized instructions. In this work, we develop a compiler framework, UNIT, to unify the compilation for tensorized instructions. The key to this approach is a unified semantics abstraction which makes the integration of new instructions easy, and the reuse of the analysis and transformations possible. Tensorized instructions from different platforms can be compiled via UNIT with moderate effort for favorable performance. Given a tensorized instruction and a tensor operation, UNIT automatically detects the applicability of the instruction, transforms the loop organization of the operation, and rewrites the loop body to take advantage of the tensorized instruction. According to our evaluation, UNIT is able to target various mainstream hardware platforms. The generated end-to-end inference model achieves 1.3 x speedup over Intel oneDNN on an x86 CPU, 1.75x speedup over Nvidia cuDNN on an Nvidia GPU, and 1.13x speedup over a carefully tuned TVM solution for ARM DOT on an ARM CPU.« less