DACAPO: Accelerating Continuous Learning in Autonomous Systems for Video Analytics

摘要

Deep neural network (DNN) video analytics is crucial for autonomous systems such as self-driving vehicles, unmanned aerial vehicles (UAVs), and security robots. However, real-world deployment faces challenges due to their limited computational resources and battery power. To tackle these challenges, continuous learning exploits a lightweight “student” model at deployment (inference), leverages a larger “teacher” model for labeling sampled data (labeling), and continuously retrains the student model to adapt to changing scenarios (retraining). This paper highlights the limitations in state-of-theart continuous learning systems: (1) they focus on computations for retraining, while overlooking the compute needs for inference and labeling, (2) they rely on power-hungry GPUs, unsuitable for battery-operated autonomous systems, and (3) they are located on a remote centralized server, intended for multi-tenant scenarios, again unsuitable for autonomous systems due to privacy, network availability, and latency concerns. We propose a hardwarealgorithm co-designed solution for continuous learning, DACAPO, that enables autonomous systems to perform concurrent executions of inference, labeling, and retraining in a performant and energy-efficient manner. DACapo comprises (1) a spatiallypartitionable and precision-flexible accelerator enabling parallel execution of kernels on sub-accelerators at their respective precisions, and (2) a spatiotemporal resource allocation algorithm that strategically navigates the resource-accuracy tradeoff space, facilitating optimal decisions for resource allocation to achieve maximal accuracy. Our evaluation shows that DACAPO achieves $\mathbf{6. 5 \%}$ and $\mathbf{5. 5 \%}$ higher accuracy than a state-of-theart GPU-based continuous learning systems, Ekya and EOMU, respectively, while consuming $254 \times$ less power.