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In this paper, we explore the prospect of accelerating tree-based genetic programming (TGP) by way of modern field-programmable gate array (FPGA) devices, which is motivated by the fact that FPGAs can sometimes leverage larger amounts of data/function parallelism, as well as better energy efficiency, when compared to general-purpose CPU/GPU systems. In our preliminary study, we introduce a fixed-depth, tree-based architecture capable of evaluating type-consistent primitives that can be fully unrolled and pipelined. The current primitive constraints preclude arbitrary control structures, but they allow for entire programs to be evaluated every clock cycle. Using a variety of floating-point primitives and random programs, we compare to the recent TensorGP tool executing on a modern 8 nm GPU, and we show that our accelerator implemented on a 14 nm FPGA achieves an average speedup of 43×. When compared to the popular baseline tool DEAP executing across all cores of a 2-socket, 28-core (56-thread), 14 nm CPU server, our accelerator achieves an average speedup of 4,902×. Finally, when compared to the recent state-of-the-art tool Operon executing on the same 2-processor CPU system, our accelerator executes about 2.4× slower on average. Despite not achieving an average speedup over every tool tested, our single-FPGA accelerator is the fastest in several instances, and we describe five future extensions that could allow for a 32–144× speedup over our current design as well as allow for larger program depths/sizes. Overall, we estimate that a future version of our accelerator will constitute a state-of-the-art GP system for many applications.
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A Sparsity-Aware Autonomous Path Planning Accelerator with HW/SW Co-Design and Multi-Level Dataflow Optimization
Path planning is a critical task for autonomous driving, aiming to generate smooth, collision-free, and feasible paths based on input perception and localization information. The planning task is both highly time-sensitive and computationally intensive, posing significant challenges to resource-constrained autonomous driving hardware. In this article, we propose an end-to-end framework for accelerating path planning on FPGA platforms. This framework focuses on accelerating quadratic programming (QP) solving, which is the core of optimization-based path planning and has the most computationally-intensive workloads. Our method leverages a hardware-friendly alternating direction method of multipliers (ADMM) to solve QP problems while employing a highly parallelizable preconditioned conjugate gradient (PCG) method for solving the associated linear systems. We analyze the sparse patterns of matrix operations in QP and design customized storage schemes along with efficient sparse matrix multiplication and sparse matrix-vector multiplication units. Our customized design significantly reduces resource consumption for data storage and computation while dramatically speeding up matrix operations. Additionally, we propose a multi-level dataflow optimization strategy. Within individual operators, we achieve acceleration through parallelization and pipelining. For different operators in an algorithm, we analyze inter-operator data dependencies to enable fine-grained pipelining. At the system level, we map different steps of the planning process to the CPU and FPGA and pipeline these steps to enhance end-to-end throughput. We implement and validate our design on the AMD ZCU102 platform. Our implementation achieves state-of-the-art performance in both latency and energy efficiency compared with existing works, including an average 1.48× speedup over the best FPGA-based design, a 2.89× speedup compared with the state-of-the-art QP solver on an Intel i7-11800H CPU, a 5.62× speedup over an ARM Cortex-A57 embedded CPU, and a 1.56× speedup over state-of-the-art GPU-based work. Furthermore, our design delivers a 2.05× improvement in throughput compared with the state-of-the-art FPGA-based design.
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- Award ID(s):
- 2443992
- PAR ID:
- 10656906
- Publisher / Repository:
- ACM Transactions on Architecture and Code Optimization
- Date Published:
- Journal Name:
- ACM Transactions on Architecture and Code Optimization
- Volume:
- 22
- Issue:
- 3
- ISSN:
- 1544-3566
- Page Range / eLocation ID:
- 1 to 25
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript
- Journal Article:
- https://doi.org/10.1145/3750449
