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Real-time trajectory optimization for nonlinear constrained autonomous systems is critical and typically performed by CPU-based sequential solvers. Specifically, reliance on global sparse linear algebra or the serial nature of dynamic…

Recent work has established an empirically successful framework for adapting learning rates for stochastic gradient descent (SGD). This effectively removes all needs for tuning, while automatically reducing learning rates over time on…

Path planning is critical for autonomous driving, generating smooth, collision-free, feasible paths based on perception and localization inputs. However, its computationally intensive nature poses significant challenges for…

Geometric numerical integration has recently been exploited to design symplectic accelerated optimization algorithms by simulating the Lagrangian and Hamiltonian systems from the variational framework introduced in Wibisono et al. In this…

Dynamic sparsity, where the sparsity patterns are unknown until runtime, poses a significant challenge to deep learning. The state-of-the-art sparsity-aware deep learning solutions are restricted to pre-defined, static sparsity patterns due…

Processing-in-memory (PIM) is a transformative architectural paradigm designed to overcome the Von Neumann bottleneck. Among PIM architectures, digital SRAM-PIM emerges as a promising solution, offering significant advantages by directly…

Adapting large pre-trained models (PTMs) through fine-tuning imposes prohibitive computational and storage burdens. Recent studies of parameter-efficient tuning (PET) find that only optimizing a small portion of parameters conditioned on…

Sparse matrix-vector multiplication (SpMV) is crucial in computational science, engineering, and machine learning. Despite substantial efforts to improve SpMV performance on GPUs through various techniques, issues related to data locality,…

High-performance sparse matrix-matrix (SpMM) multiplication is paramount for science and industry, as the ever-increasing sizes of data prohibit using dense data structures. Yet, existing hardware, such as Tensor Cores (TC), is ill-suited…

Sparse General Matrix-Matrix Multiplication (SpGEMM) is a fundamental operation in numerous scientific computing and data analytics applications, often bottlenecked by irregular memory access patterns. This paper presents Hash based…

Sparse Matrix Vector multiplication (SpMV) is one of basic building blocks in scientific computing, and acceleration of SpMV has been continuously required. In this research, we aim for accelerating SpMV on recent CPUs for sparse matrices…

We present a novel sparsity-based space-time adaptive processing (STAP) technique based on the alternating direction method to overcome the severe performance degradation caused by array gain/phase (GP) errors. The proposed algorithm…

Large-scale eigenvalue computations on sparse matrices are a key component of graph analytics techniques based on spectral methods. In such applications, an exhaustive computation of all eigenvalues and eigenvectors is impractical and…

End-to-end multi-modal planning has been widely adopted to model the uncertainty of driving behavior, typically by scoring candidate trajectories and selecting the optimal one. Existing approaches generally fall into two categories: scoring…

Adapter Tuning, which freezes the pretrained language models (PLMs) and only fine-tunes a few extra modules, becomes an appealing efficient alternative to the full model fine-tuning. Although computationally efficient, the recent Adapters…

Orthogonal Matching Pursuit (OMP) plays an important role in data science and its applications such as sparse subspace clustering and image processing. However, the existing OMP-based approaches lack of data adaptiveness so that the data…

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can…

Sparse matrix vector multiplication (SpMV) is an important kernel in scientific and engineering applications. The previous optimizations are sparse matrix format specific and expose the choice of the best format to application programmers.…

Sparse matrix multiplication operators (i.e., SpMM and SDDMM) are widely used in deep learning and scientific computing. Modern accelerators are commonly equipped with Tensor Core Units (TCUs) and CUDA cores to accelerate sparse operators.…

Advances in leveraging Gaussian processes (GP) have enabled learning and inferring dynamic grid behavior from scarce PMU measurements. However, real measurements can be corrupted by various random and targeted threats, leading to inaccurate…