SAPipe: Staleness-Aware Pipeline for Data Parallel DNN Training

Data parallelism across multiple machines is widely adopted for accelerating distributed deep learning, but it is hard to achieve linear speedup due to the heavy communication. In this paper, we propose SAPipe, a performant system that pushes the training speed of data parallelism to its fullest extent. To mitigate additional problems incurred by staleness, SAPipe adopts staleness compensation techniques including weight prediction and delay compensation with provably lower error bounds. Additionally, SAPipe presents an algorithm-system co-design with runtime optimization to minimize system overhead for the staleness training pipeline and staleness compensation. We have implemented SAPipe in the BytePS framework, compatible to both TensorFlow and PyTorch.