Minuet: Accelerating 3D Sparse Convolutions on GPUs
Bibliographic record
Abstract
Sparse Convolution (SC) is widely used for processing 3D point clouds that are inherently sparse. Different from dense convolution, SC preserves the sparsity of the input point cloud by only allowing outputs to specific locations. To efficiently compute SC, prior SC engines first use hash tables to build a kernel map that stores the necessary General Matrix Multiplication (GEMM) operations to be executed (Map step), and then use a Gather-GEMM-Scatter process to execute these GEMM operations (GMaS step). In this work, we analyze the shortcomings of prior state-of-the-art SC engines, and propose Minuet, a novel memory-efficient SC engine tailored for modern GPUs. Minuet proposes to (i) replace the hash tables used in the Map step with a novel segmented sorting double-traversed binary search algorithm that highly utilizes the on-chip memory hierarchy of GPUs, (ii) use a lightweight scheme to autotune the tile size in the Gather and Scatter operations of the GMaS step, such that to adapt the execution to the particular characteristics of each SC layer, dataset, and GPU architecture, and (iii) employ a padding-efficient GEMM grouping approach that reduces both memory padding and kernel launching overheads. Our evaluations show that Minuet significantly outperforms prior SC engines by on average 1.74× (up to 2.22×) for end-to-end point cloud network executions. Our novel segmented sorting double-traversed binary search algorithm achieves superior speedups by 15.8× on average (up to 26.8×) over prior SC engines in the Map step. The source code of Minuet is publicly available at https://github.com/UofT-EcoSystem/Minuet.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.006 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".