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Yuheng Zhu

Publications and source records attributed to Yuheng Zhu.

3 recordsLinked to original sources

DejaVu: Unifying Memory Allocations to Eliminate Redundant Copies on Unified-Memory SoCs

GPU applications on unified-memory (UMA) edge platforms often inherit a discrete-GPU memory abstraction in which they allocate one buffer for the CPU, another for the GPU, and copy data between them before and after GPU execution. On UMA hardware these buffers reside in the same physical DRAM, so the copies consume bandwidth, time, and energy without moving data across a physical boundary. Despite the growing adoption of UMA platforms, this pattern remains common because production software stacks, libraries, and samples were written for portability across discrete GPUs. However, removing these copies is not as simple as merging the two buffers, because the original program may rely on the two buffers being distinct, or on the copy itself ordering CPU and GPU accesses. DejaVu removes these copies only when the program does not depend on the effects above. It does so along two complementary paths, depending on whether source is available. DejaVu-SR is a compile-time LLVM transformation that proves safety and rewrites accepted pairs in place. DejaVu-DR is a profile-guided binary optimizer for closed-source deployments that profiles and validates stable allocation/copy patterns and, at runtime, intercepts the matching calls to coalesce profile-matched pairs while preserving the ordering effects of removed copies. Across seven benchmarks on three NVIDIA Jetson platforms, DejaVu's benefit grows with the fraction of baseline time spent on copies. Copy-dominated workloads speed up by up to 6.9$\times$, closed-source end-to-end applications speed up by 1.10-1.14$\times$. Both source and binary paths achieve $\ge$99% of the performance achievable by manual optimization.

cs.DC

FrameScope: Temporal Data Valuation for Stream Active Learning in Autonomous Vehicle Systems

Autonomous vehicles operate in dynamic, ever-changing environments where new scenarios and edge cases constantly emerge. As a result, static learning models are inadequate for ensuring safe and reliable operation. Continuous learning is essential for adapting to these evolving conditions and maintaining robust performance across diverse real-world settings. However, autonomous vehicles generate massive streams of visual data during operation, and existing continuous learning approaches typically rely on heuristic sampling methods that fail to capture temporal dynamics, often overlooking critical learning opportunities or selecting redundant frames. In this paper, we introduce FrameScope, a temporal data valuation framework for continuous learning in autonomous vehicles. FrameScope extends neural tangent kernel theory to temporal domains, enabling principled valuation of streaming visual data. Unlike cloud-centric methods that transmit all video data for processing, our approach performs principled, local frame selection on the vehicle and queries a cloud-based oracle model only for labels of those high-value frames. Extensive experiments across multiple domain shifts show that FrameScope consistently outperforms existing methods, achieving higher sample efficiency and significantly reducing catastrophic forgetting in autonomous vehicle perception. By valuing data on the vehicle and querying only labels for selected frames, FrameScope reduces bandwidth requirements, enabling scalable operation with a lightweight cloud labeling service.

cs.CV

AdaptAV: Continuous Adaption of Vision Models for Autonomous Vehicles Using Cloud-based Oracle

Deploying vision perception models in autonomous vehicles requires that we prioritize inference speeds, resulting in a model with shallower architectures and lesser model parameters (i.e., more pruned). Such small models do not generalize well, which could result in poor performance when encountered with novel scenarios. We propose a system that overcomes this by continuously retraining the vision models on the cloud with data uploaded by vehicles. We leverage the abundant compute resources, including machine learning accelerators, of the cloud to run a highly-accurate oracle model that will guide the retraining process of the on-vehicle model. This newly trained model is transmitted to the vehicle over the network and is utilized by the vehicle for perceptions, leading to improved inference accuracy over time.

cs.CV