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Nihar Kodkani

Publications and source records attributed to Nihar Kodkani.

2 recordsLinked to original sources

Harvest: Adaptive Photonic Switching Schedules for Collective Communication in Scale-up Domains

As chip-to-chip silicon photonics gain traction for their bandwidth and energy efficiency, their circuit-switched nature raises a fundamental question for collective communication: when and how should the interconnect be reconfigured to realize these benefits? Establishing direct optical paths can reduce congestion and propagation delay, but each reconfiguration incurs non-negligible overhead, making naive per-step reconfiguration impractical. We present Harvest, a systematic approach for synthesizing topology reconfiguration schedules that minimize collective completion time in photonic interconnects. Given a collective communication algorithm and its fixed communication schedule, Harvest determines how the interconnect should evolve over the course of the collective, explicitly balancing reconfiguration delay against congestion and propagation delay. We reduce the synthesis problem into a dynamic program with an underlying topology optimization subproblem and show that the approach applies to arbitrary collective communication algorithms. Furthermore, we exploit the algorithmic structure of a well-known AllReduce algorithm (Recursive Doubling) to synthesize optimal reconfiguration schedules without using any optimizers. By parameterizing the formulation using reconfiguration delay, Harvest naturally adapts to various photonic technologies. Using packet-level and flow-level evaluations, as well as hardware emulation on commercial GPUs, we show that the schedules synthesized by Harvest significantly reduce collective completion time across multiple collective algorithms compared to static interconnects and reconfigure-every-step baselines.

cs.NI

Foam: A Tool for Spherical Approximation of Robot Geometry

Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a tool to generate spherical approximations of robot geometry from an input Universal Robot Description Format (URDF) file. Foam provides a robust preprocessing pipeline to handle mesh defects and a number of configuration parameters to control the level and approximation of the spherization, and generates an output URDF with collision geometry specified only by spheres. We demonstrate Foam on a number of standard robot models on common tasks, and demonstrate improved collision checking and distance query performance with only a minor loss in fidelity compared to the true collision geometry. We release our tool as an open source Python library and containerized command-line application to facilitate adoption across the robotics community.

cs.RO