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Interactive notebook programming is universal in modern ML and AI workflows, with interactive deep learning training (IDLT) emerging as a dominant use case. To ensure responsiveness, platforms like Jupyter and Colab reserve GPUs for long-running notebook sessions, despite their intermittent and sporadic GPU usage, leading to extremely low GPU utilization and prohibitively high costs. In this paper, we introduce NotebookOS, a GPU-efficient notebook platform tailored for the unique requirements of IDLT. NotebookOS employs replicated notebook kernels with Raft-synchronized replicas distributed across GPU servers. To optimize GPU utilization, NotebookOS oversubscribes server resources, leveraging high inter-arrival times in IDLT workloads, and allocates GPUs only during active cell execution. It also supports replica migration and automatic cluster scaling under high load. Altogether, this design enables interactive training with minimal delay. In evaluation on production workloads, NotebookOS saved over 1,187 GPU hours in 17.5 hours of real-world IDLT, while significantly improving interactivity.
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Chauffeur: Benchmark Suite for Design and End-to-End Analysis of Self-Driving Vehicles on Embedded Systems
Self-driving systems execute an ensemble of different self-driving workloads on embedded systems in an end-to-end manner, subject to functional and performance requirements. To enable exploration, optimization, and end-to-end evaluation on different embedded platforms, system designers critically need a benchmark suite that enables flexible and seamless configuration of self-driving scenarios, which realistically reflects real-world self-driving workloads’ unique characteristics. Existing CPU and GPU embedded benchmark suites typically (1) consider isolated applications, (2) are not sensor-driven, and (3) are unable to support emerging self-driving applications that simultaneously utilize CPUs and GPUs with stringent timing requirements. On the other hand, full-system self-driving simulators (e.g., AUTOWARE, APOLLO) focus on functional simulation, but lack the ability to evaluate the self-driving software stack on various embedded platforms. To address design needs, we present Chauffeur, the first open-source end-to-end benchmark suite for self-driving vehicles with configurable representative workloads. Chauffeur is easy to configure and run, enabling researchers to evaluate different platform configurations and explore alternative instantiations of the self-driving software pipeline. Chauffeur runs on diverse emerging platforms and exploits heterogeneous onboard resources. Our initial characterization of Chauffeur on different embedded platforms – NVIDIA Jetson TX2 and Drive PX2 – enables comparative evaluation of these GPU platforms in executing an end-to-end self-driving computational pipeline to assess the end-to-end response times on these emerging embedded platforms while also creating opportunities to create application gangs for better response times. Chauffeur enables researchers to benchmark representative self-driving workloads and flexibly compose them for different self-driving scenarios to explore end-to-end tradeoffs between design constraints, power budget, real-time performance requirements, and accuracy of applications.
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- Award ID(s):
- 1704859
- PAR ID:
- 10297482
- Date Published:
- Journal Name:
- ACM Transactions on Embedded Computing Systems
- Volume:
- 20
- Issue:
- 5s
- ISSN:
- 1539-9087
- Page Range / eLocation ID:
- 1 to 22
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1145/3477005
