Henggang Cui

Picture of Henggang Cui Senior Software Engineer
Uber ATG
cuihenggang (at) gmail (dot) com


     

About me

I am a Senior Software Engineer at Uber ATG, conducting research and development on the Perception/Prediction modules for autonomous driving.

I got my Ph.D. degree from Carnegie Mellon University, advised by Greg Ganger. My research area was system support for large-scale machine learning.

[resume]

Thesis

Exploiting Application Characteristics for Efficient System Support for Data-Parallel Machine Learning [dissertation] [slides]

Open-sourced Projects

[GeePS]: GPU-specialized parameter server for GPU machine learning

[MLtuner-GeePS]: GeePS with automatic tuning on learning rate, momentum, batch size, data staleness and more

[IterStore]: High-performacne parameter server for iterative convergent machine learning

Publications

MultiXNet: Multiclass Multistage Multimodal Motion Prediction [link]
Nemanja Djuric, Henggang Cui*, Zhaoen Su, Shangxuan Wu, Huahua Wang, Fang-Chieh Chou, Luisa San Martin, Song Feng, Rui Hu, Yang Xu, Alyssa Dayan, Sidney Zhang, Brian C. Becker, Gregory P. Meyer, Carlos Vallespi-Gonzalez, Carl K. Wellington
arXiv:2006.02000

Improving Movement Predictions of Traffic Actors in Bird's-Eye View Models using GANs and Differentiable Trajectory Rasterization [link] [pdf]
Eason Wang*, Henggang Cui*, Sai Yalamanchi, Mohana Moorthy, Fang-Chieh Chou, Nemanja Djuric
SIGKDD Conference on Knowledge Discovery and Data Mining (KDD), 2020

Predicting Motion of Vulnerable Road Users using High-Definition Maps and Efficient ConvNets [link] [pdf]
Fang-Chieh Chou, Tsung-Han Lin, Henggang Cui, Vladan Radosavljevic, Thi Nguyen, Tzu-Kuo Huang, Matthew Niedoba, Jeff Schneider, Nemanja Djuric
IEEE Intelligent Transportation Systems (IV), 2020

Deep Kinematic Models for Kinematically Feasible Vehicle Trajectory Predictions [link] [pdf]
Henggang Cui, Thi Nguyen, Fang-Chieh Chou, Tsung-Han Lin, Jeff Schneider, David Bradley, Nemanja Djuric
IEEE International Conference on Robotics and Automation (ICRA), 2020

Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networks [link] [pdf]
Henggang Cui, Vladan Radosavljevic, Fang-Chieh Chou, Tsung-Han Lin, Thi Nguyen, Tzu-Kuo Huang, Jeff Schneider, Nemanja Djuric
IEEE International Conference on Robotics and Automation (ICRA), 2019

Improving Movement Prediction of Traffic Actors using Off-road Loss and Bias Mitigation [link] [pdf]
Matthew Niedoba, Henggang Cui, Kevin Luo, Darshan Hegde, Fang-Chieh Chou, Nemanja Djuric
NeurIPS Workshop on Machine Learning for Autonomous Driving (NeurIPS ML4AD workshop), 2019

Predicting Motion of Vulnerable Road Users using High-Definition Maps and Efficient ConvNets [link] [pdf]
Fang-Chieh Chou, Tsung-Han Lin, Henggang Cui, Vladan Radosavljevic, Thi Nguyen, Tzu-Kuo Huang, Matthew Niedoba, Jeff Schneider, Nemanja Djuric
NeurIPS Workshop on Machine Learning for Intelligent Transportation Systems (NeurIPS MLITS workshop), 2018

Uncertainty-aware Short-term Motion Prediction of Traffic Actors for Autonomous Driving [link] [pdf]
Nemanja Djuric, Vladan Radosavljevic, Henggang Cui, Thi Nguyen, Fang-Chieh Chou, Tsung-Han Lin, Jeff Schneider
IEEE Winter Conference on Applications of Computer Vision (WACV), 2020

MLtuner: System Support for Automatic Machine Learning Tuning [github]
Henggang Cui, Gregory R. Ganger, and Phillip B. Gibbons
[older PDL TR version] CMU Parallel Data Lab Technical Report 2016 [pdf]
[newer arxiv version] arXiv 1803.07445 [link] [pdf]

Addressing the Straggler Problem for Iterative Convergent Parallel ML [link]
Aaron Harlap, Henggang Cui, Wei Dai, Jinliang Wei, Gregory R. Ganger, Phillip B. Gibbons, Garth A. Gibson, and Eric P. Xing
ACM Symposium on Cloud Computing (SoCC), 2016

GeePS: Scalable Deep Learning on Distributed GPUs with a GPU-Specialized Parameter Server [link] [pdf] [github]
Henggang Cui, Hao Zhang, Gregory R. Ganger, Phillip B. Gibbons, and Eric P. Xing
ACM European Conference on Computer Systems (EuroSys), 2016

Using Data Transformations for Low-latency Time Series Analysis [link] [pdf] [full version]
Henggang Cui, Kimberly Keeton, Indrajit Roy, Krishnamurthy Viswanathan, and Gregory R. Ganger
ACM Symposium on Cloud Computing (SoCC), 2015

Managed Communication and Consistency for Fast Data-Parallel Iterative Analytics [link]
Jinliang Wei, Wei Dai, Aurick Qiao, Qirong Ho, Henggang Cui, Gregory R. Ganger, Phillip B. Gibbons, Garth A. Gibson, and Eric P. Xing
ACM Symposium on Cloud Computing (SoCC), 2015
Best Paper Award

Exploiting Iterative-ness for Parallel ML Computations [link] [pdf] [github]
Henggang Cui, Alexey Tumanov, Jinliang Wei, Lianghong Xu, Wei Dai, Jesse Haber-Kucharsky, Qirong Ho, Gregory R. Ganger, Phillip B. Gibbons, Garth A. Gibson, and Eric P. Xing
ACM Symposium on Cloud Computing (SoCC), 2014

Exploiting Bounded Staleness to Speed Up Big Data Analytics [link] [pdf]
Henggang Cui, James Cipar, Qirong Ho, Jin Kyu Kim, Seunghak Lee, Abhimanu Kumar, Jinliang Wei, Wei Dai, Gregory R. Ganger, Phillip B. Gibbons, Garth A. Gibson, and Eric P. Xing
USENIX Annual Technical Conference (ATC), 2014

More Effective Distributed ML via a Stale Synchronous Parallel Parameter Server [link] [pdf]
Qirong Ho, James Cipar, Henggang Cui, Jin Kyu Kim, Seunghak Lee, Phillip B. Gibbons, Garth A. Gibson, Gregory R. Ganger, and Eric P. Xing
Neural Information Processing Systems (NIPS), 2013

Optically Cross-Braced Hypercube: A Reconfigurable Physical Layer for Interconnects and Server-Centric Datacenters [link] [pdf]
Henggang Cui, Danielle Rasooly, Moises R. N. Ribeiro, and Leonid Kazovsky
Optical Fiber Communication Conference (OFC), 2012

Scalable Data Center Multicast using Multi-class Bloom Filter [link] [pdf]
Dan Li, Henggang Cui, Yan Hu, Yong Xia, and Xin Wang
19th IEEE International Conference on Network Protocols (ICNP), 2011

Talks

Exploiting Application Characteristics for Efficient System Support of Data-parallel Machine Learning [slides]
Henggang Cui
CMU Ph.D. Thesis Defense, Pittsburgh, PA, April 2017

GeePS: Scalable Deep Learning on Distributed GPUs with A GPU-specialized Parameter Server [slides]
Henggang Cui, Hao Zhang, Gregory R. Ganger, Phillip B. Gibbons, and Eric P. Xing
ACM European Conference on Computer Systems (EuroSys), London, UK, April 2016

Using Data Transformations for Low-latency Time Series Analysis [slides]
Henggang Cui, Kimberly Keeton, Indrajit Roy, Krishnamurthy Viswanathan, and Gregory R. Ganger
ACM Symposium on Cloud Computing (SoCC), Kohala Coast, HI, August 2015

Exploiting Iterative-ness for Parallel ML Computations [slides]
Henggang Cui, Alexey Tumanov, Jinliang Wei, Lianghong Xu, Wei Dai, Jesse Haber-Kucharsky, Qirong Ho, Gregory R. Ganger, Phillip B. Gibbons, Garth A. Gibson, and Eric P. Xing
ACM Symposium on Cloud Computing (SoCC), Seattle, WA, November 2014

Exploiting Bounded Staleness to Speed Up Big Data Analytics [slides]
Henggang Cui, James Cipar, Qirong Ho, Jin Kyu Kim, Seunghak Lee, Abhimanu Kumar, Jinliang Wei, Wei Dai, Gregory R. Ganger, Phillip B. Gibbons, Garth A. Gibson, and Eric P. Xing
USENIX Annual Technical Conference (ATC), Philadelphia, PA, June 2014

LazyTable: Distributed Machine Learning with the Stale Synchronous Parallel Model [slides]
Henggang Cui, James Cipar, Qirong Ho, Jin Kyu Kim, Abhimanu Kumar, Seunghak Lee, Greg R. Ganger, Phil B. Gibbons, Garth A. Gibson, and Eric P. Xing
WIP Talk, ACM Symposium on Operating Systems Principles (SOSP), Farmington, PA, November 2013

Public services

Reviewer of International Conference on Learning Representations (ICLR) 2021.
Program committee of NeurIPS 2020 "Machine Learning for Autonomous Driving" Workshop. [link]
Program committee of The Web Conference (WWW) 2021. [link]
Program committee of ECCV 2020 "Autonomous Driving" Workshop. [link]
Program committee of The European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML-KDD) 2020. [link]
Program committee of International Conference on Machine Learning (ICML) 2020. [link]
Reviewer of IEEE Intelligent Vehicles Symposium (IV) 2020. [link]
Reviewer of Cluster Computing (CC) 2020.
Program committee of The Web Conference (WWW) 2020. [link]
Reviewer of IEEE International Conference on Robotics and Automation (ICRA) 2019. [link]
Reviewer of IEEE Robotics and Automation Letters (RAL) 2019.
Reviewer of IEEE Big Data 2019. [link]
Program committee of NeurIPS 2019 "Machine Learning for Autonomous Driving" Workshop. [link]
Reviewer of Cluster Computing (CC) 2019.
Program committee of CVPR 2019 "Precognition: Seeing through the Future" Workshop. [link]
Reviewer of IEEE Transactions on Network Science and Engineering (TNSE) 2018.
Program committee of ACM Symposium on Cloud Computing (SoCC) 2018. [link]
Program committee of Computing Conference (CC) 2018. [link]
Program committee of ACM Symposium on Cloud Computing (SoCC) 2017. [link]

Teaching

Teaching assistant of Storage Systems (15746/18746), Spring 2015. [link]
Teaching assistant of Storage Systems (15746/18746), Fall 2016. [link]

Misc

Henggang Cui at [LinkedIn], [Google Scholar], [Github], [iNaturalist], [eBird].