Dense depth cues are important and have wide applications in various computer vision tasks. In autonomous driving, LIDAR sensors are adopted to acquire depth measurements around the vehicle to perceive the surrounding environments. However, depth maps obtained by LIDAR are generally sparse because of its hardware limitation. The task of depth completion attracts increasing attention, which aims at generating a dense depth map from an input sparse depth map. To effectively utilize multi-scale features, we propose three novel sparsity-invariant operations, based on which, a sparsity-invariant multi-scale encoder-decoder network (HMS-Net) for handling sparse inputs and sparse feature maps is also proposed. Additional RGB features could be incorporated to further improve the depth completion performance. Our extensive experiments and component analysis on two public benchmarks, KITTI depth completion benchmark and NYU-depth-v2 dataset, demonstrate the effectiveness of the proposed approach. As of Aug. 12th, 2018, on KITTI depth completion leaderboard, our proposed model without RGB guidance ranks 1st among all peer-reviewed methods without using RGB information, and our model with RGB guidance ranks 2nd among all RGB-guided methods.

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Protein structure prediction is an important method for understanding gene translation and protein function in the domain of structural biology. AlphaFold introduced the Transformer model to the field of protein structure prediction with atomic accuracy. However, training and inference of AlphaFold model are time-consuming and expensive because of the special performance characteristics and huge memory consumption. In this paper, we propose FastFold, a highly efficient implementation of protein structure prediction model for training and inference. FastFold includes a series of GPU optimizations based on thorough analysis of AlphaFold's performance. Meanwhile, with Dynamic Axial Parallelism and Duality Async Operation, FastFold achieves high model parallelism scaling efficiency, surpassing existing popular model parallelism techniques. Experimental results show that FastFold reduces overall training time from 11 days to 67 hours and achieves 7.5 ∼ 9.5× speedup for long-sequence inference. Furthermore, We scaled FastFold to 512 GPUs and achieved aggregate 6.02 PetaFLOPs with 90.1% parallel efficiency. The implementation can be found at https: //github.com/hpcaitech/FastFold.

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