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CUDA programming in Julia.
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`scan!` fails on vectors of structs #1482

Closed nathanaelbosch closed 2 years ago

nathanaelbosch commented 2 years ago

Describe the bug

I am trying to use CUDA.jl's associative scan (CUDA.scan!) to efficiently compute prefix sums. The elements are custom structs with a corresponding associative operator. I run into the following error:

ERROR: TypeError: in typeassert, expected LLVM.Instruction, got a value of type LLVM.ConstantExpr

To reproduce

Here is a minimal example, where the custom struct is just a wrapped matrix and the custom operator is just a matrix multiplication:

using LinearAlgebra, CUDA, Adapt
CUDA.allowscalar(false) # just to be sure

struct MyType{AT}
    A::AT
end
Adapt.@adapt_structure MyType # as suggested in the CUDA.jl documentation

op(ei::MyType, ej::MyType) = MyType(ei.A * ej.A) # basically just a matmul

# `op` works both on CPU and with CUDA:
D = 2
el = MyType(randn(D, D)); op(el, el)
cu_el = cu(el); op(cu_el, cu_el)

# CUDA.scan! fails:
celems = cu(cu.([MyType(randn(D, D)) for _ in 1:10]));
typeof(celems)
# CuArray{MyType{CuArray{Float32,2,CUDA.Mem.DeviceBuffer}},1,CUDA.Mem.DeviceBuffer}

neutral_element = MyType(cu(Float32.(collect(I(D)))))
CUDA.scan!(op, copy(celems), celems, dims=1, neutral=neutral_element)

The last line raises the TypeError.

Manifest.toml

``` # This file is machine-generated - editing it directly is not advised julia_version = "1.7.2" manifest_format = "2.0" [[deps.AbstractFFTs]] deps = ["ChainRulesCore", "LinearAlgebra"] git-tree-sha1 = "6f1d9bc1c08f9f4a8fa92e3ea3cb50153a1b40d4" uuid = "621f4979-c628-5d54-868e-fcf4e3e8185c" version = "1.1.0" [[deps.Adapt]] deps = ["LinearAlgebra"] git-tree-sha1 = "af92965fb30777147966f58acb05da51c5616b5f" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" version = "3.3.3" [[deps.ArgTools]] uuid = "0dad84c5-d112-42e6-8d28-ef12dabb789f" [[deps.Artifacts]] uuid = "56f22d72-fd6d-98f1-02f0-08ddc0907c33" [[deps.BFloat16s]] deps = ["LinearAlgebra", "Printf", "Random", "Test"] git-tree-sha1 = "a598ecb0d717092b5539dbbe890c98bac842b072" uuid = "ab4f0b2a-ad5b-11e8-123f-65d77653426b" version = "0.2.0" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" [[deps.Bzip2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "19a35467a82e236ff51bc17a3a44b69ef35185a2" uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0" version = "1.0.8+0" [[deps.CEnum]] git-tree-sha1 = "215a9aa4a1f23fbd05b92769fdd62559488d70e9" uuid = "fa961155-64e5-5f13-b03f-caf6b980ea82" version = "0.4.1" [[deps.CUDA]] deps = ["AbstractFFTs", "Adapt", "BFloat16s", "CEnum", "CompilerSupportLibraries_jll", "ExprTools", "GPUArrays", "GPUCompiler", "LLVM", "LazyArtifacts", "Libdl", "LinearAlgebra", "Logging", "Printf", "Random", "Random123", "RandomNumbers", "Reexport", "Requires", "SparseArrays", "SpecialFunctions", "TimerOutputs"] git-tree-sha1 = "ba75320aaa092b3e17c020a2d8b9e0a572dbfa6a" uuid = "052768ef-5323-5732-b1bb-66c8b64840ba" version = "3.9.0" [[deps.Cairo_jll]] deps = ["Artifacts", "Bzip2_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Pkg", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"] git-tree-sha1 = "4b859a208b2397a7a623a03449e4636bdb17bcf2" uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a" version = "1.16.1+1" [[deps.ChainRulesCore]] deps = ["Compat", "LinearAlgebra", "SparseArrays"] git-tree-sha1 = "9950387274246d08af38f6eef8cb5480862a435f" uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" version = "1.14.0" [[deps.ChangesOfVariables]] deps = ["ChainRulesCore", "LinearAlgebra", "Test"] git-tree-sha1 = "bf98fa45a0a4cee295de98d4c1462be26345b9a1" uuid = "9e997f8a-9a97-42d5-a9f1-ce6bfc15e2c0" version = "0.1.2" [[deps.ColorSchemes]] deps = ["ColorTypes", "Colors", "FixedPointNumbers", "Random"] git-tree-sha1 = "12fc73e5e0af68ad3137b886e3f7c1eacfca2640" uuid = "35d6a980-a343-548e-a6ea-1d62b119f2f4" version = "3.17.1" [[deps.ColorTypes]] deps = ["FixedPointNumbers", "Random"] git-tree-sha1 = "024fe24d83e4a5bf5fc80501a314ce0d1aa35597" uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" version = "0.11.0" [[deps.Colors]] deps = ["ColorTypes", "FixedPointNumbers", "Reexport"] git-tree-sha1 = "417b0ed7b8b838aa6ca0a87aadf1bb9eb111ce40" uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" version = "0.12.8" 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"53c48c17-4a7d-5ca2-90c5-79b7896eea93" version = "0.8.4" [[deps.Fontconfig_jll]] deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Pkg", "Zlib_jll"] git-tree-sha1 = "21efd19106a55620a188615da6d3d06cd7f6ee03" uuid = "a3f928ae-7b40-5064-980b-68af3947d34b" version = "2.13.93+0" [[deps.Formatting]] deps = ["Printf"] git-tree-sha1 = "8339d61043228fdd3eb658d86c926cb282ae72a8" uuid = "59287772-0a20-5a39-b81b-1366585eb4c0" version = "0.4.2" [[deps.FreeType2_jll]] deps = ["Artifacts", "Bzip2_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"] git-tree-sha1 = "87eb71354d8ec1a96d4a7636bd57a7347dde3ef9" uuid = "d7e528f0-a631-5988-bf34-fe36492bcfd7" version = "2.10.4+0" [[deps.FriBidi_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "aa31987c2ba8704e23c6c8ba8a4f769d5d7e4f91" uuid = "559328eb-81f9-559d-9380-de523a88c83c" version = "1.0.10+0" [[deps.GLFW_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libglvnd_jll", "Pkg", "Xorg_libXcursor_jll", "Xorg_libXi_jll", "Xorg_libXinerama_jll", "Xorg_libXrandr_jll"] git-tree-sha1 = "51d2dfe8e590fbd74e7a842cf6d13d8a2f45dc01" uuid = "0656b61e-2033-5cc2-a64a-77c0f6c09b89" version = "3.3.6+0" [[deps.GPUArrays]] deps = ["Adapt", "LLVM", "LinearAlgebra", "Printf", "Random", "Serialization", "Statistics"] git-tree-sha1 = "c783e8883028bf26fb05ed4022c450ef44edd875" uuid = "0c68f7d7-f131-5f86-a1c3-88cf8149b2d7" version = "8.3.2" [[deps.GPUCompiler]] deps = ["ExprTools", "InteractiveUtils", "LLVM", "Libdl", "Logging", "TimerOutputs", "UUIDs"] git-tree-sha1 = "556190e1e0ea3e37d83059fc9aa576f1e2104375" uuid = "61eb1bfa-7361-4325-ad38-22787b887f55" version = "0.14.1" [[deps.GR]] deps = ["Base64", "DelimitedFiles", "GR_jll", "HTTP", "JSON", "Libdl", "LinearAlgebra", "Pkg", "Printf", "Random", "RelocatableFolders", "Serialization", "Sockets", "Test", "UUIDs"] git-tree-sha1 = "af237c08bda486b74318c8070adb96efa6952530" uuid = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71" version 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Expected behavior

I expect scan! to return a CUDA vector of MyType elements.

Version info

Details on Julia:

Julia Version 1.7.2
Commit bf53498635 (2022-02-06 15:21 UTC)
Platform Info:
  OS: Linux (x86_64-pc-linux-gnu)
  CPU: Intel(R) Core(TM) i7-6800K CPU @ 3.40GHz
  WORD_SIZE: 64
  LIBM: libopenlibm
  LLVM: libLLVM-12.0.1 (ORCJIT, broadwell)
Environment:
  JULIA_STACKTRACE_MINIMAL = true

Details on CUDA:

CUDA toolkit 11.6, artifact installation
NVIDIA driver 510.60.2, for CUDA 11.6
CUDA driver 11.6

Libraries:
- CUBLAS: 11.8.1
- CURAND: 10.2.9
- CUFFT: 10.7.0
- CUSOLVER: 11.3.2
- CUSPARSE: 11.7.1
- CUPTI: 16.0.0
- NVML: 11.0.0+510.60.2
- CUDNN: 8.30.2 (for CUDA 11.5.0)
- CUTENSOR: 1.4.0 (for CUDA 11.5.0)

Toolchain:
- Julia: 1.7.2
- LLVM: 12.0.1
- PTX ISA support: 3.2, 4.0, 4.1, 4.2, 4.3, 5.0, 6.0, 6.1, 6.3, 6.4, 6.5, 7.0
- Device capability support: sm_35, sm_37, sm_50, sm_52, sm_53, sm_60, sm_61, sm_62, sm_70, sm_72, sm_75, sm_80

1 device:
  0: NVIDIA GeForce GTX 1060 3GB (sm_61, 2.406 GiB / 3.000 GiB available)

Additional context

This is my first time using CUDA.jl, so chances are decently high that I am just using the library wrong. Please let me know if that is the case.

maleadt commented 2 years ago

Fixing the compile errors took a while, https://github.com/JuliaGPU/GPUCompiler.jl/pull/322, but that's ultimately unrelated to your issue (it just changes the compiler error to a validation error).

The real issue is that you're using a CuArray on the device here, because your Adapt rule doesn't suffice. With @adapt_structure, CUDA.jl knows how to convert a MyType and properly convert the nested A field, but you are passing a CuArray of MyTypes, and the conversion intentionally does not recursively convert elements of a CuArray (because that would require allocating a temporary CuArray before launching the kernel, which is prohibitively expensive). Essentially, nested CuArrays are not supported.

For a similar situation, have a look at this Discourse thread: https://discourse.julialang.org/t/arrays-of-arrays-and-arrays-of-structures-in-cuda-kernels-cause-random-errors/69739. You'll want to manually create a new CuArray of MyType{CuDeviceArray} elements, which is a bit cumbersome, but the adaptor I posted in the Discourse thread might help (to use that you keep celems as an array of arrays). However, I'd just recommend you try and avoid nested CuArrays.

nathanaelbosch commented 2 years ago

Thanks a lot for the help! I had a look at the discourse thread and built adjusted the DeepAdaptor to return a CuArray{MyType{CuDeviceArray}}. I'm looking forward to trying this out once your PR is through.

More generally: Is there an alternative to nesting CuArrays? For context, I want to implement time-parallel Kalman filters, which can be formulated as a prefix-sum [1]. But the assocative operation is a bit more complicated, and op(::Array, ::Array) is not really sufficient. Most people in the field currently use jax and its associative_scan function, which allows the object to be iterated over to be a tuple of Arrays. If you have any suggestion on how to implement more complex prefix sums with Julia and CUDA.jl, better than with a CuArray{MyType{CuDeviceArray}} structure, I would be very grateful. But in any case, thanks again for your help!

[1] Temporal Parallelization of Bayesian Smoothers, Simo Särkkä, Angel F. Garcia-Fernandez (https://arxiv.org/abs/1905.13002)

maleadt commented 2 years ago

Thanks a lot for the help! I had a look at the discourse thread and built adjusted the DeepAdaptor to return a CuArray{MyType{CuDeviceArray}}. I'm looking forward to trying this out once your PR is through.

It doesn't need that compiler change, those are just to not fail when you're invoking the compiler with a bunch of (unsupported) CuArray operations.

Nested CuArrays aren't really supported because it doesn't work with our CuArray/CuDeviceArray split. In a way, CuArray{<:CuArray} is not representable because a host CuArray object cannot exist on the GPU, but that's what's required by the element type being a CuArray here. If other frameworks like Jax do support this, could you open an issue with a (preferably more minimal) use case and how it works in those frameworks?