TensorRT gives different results on Jetson Orin

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Orin
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1

Hi,
We’ve been using TensorRT for several years with different neural networks on different platforms, jetson (xavier), desktop (2080), server (T4), …
We’ve just started supporting Jetson Orin with our current models and we have found an odd issue.
Some networks are returning different values on Jetson Orin AGX with JetPack 5.1

I have created an example using pose estimation to reproduce the problem, you can download the code from the following link:

Steps to reproduce the problem:
1 - Install onnxruntime
$> pip3 install onnxruntime
2 - Build plan file using trtexec
$> ./trtexec_pose.sh build
3 - Run plan file and save outputs
$> ./trtexec_pose.sh infer
4 - Get results for the same input using onnxruntime
$> python3 onnxruntime_pose.py
5 - Finally compare trtexec and onnxruntime results
$> python3 check_results.py

Same steps on Jetson Xavier AGX (JetPack 4.5) or Tesla T4 or RTX 2080ti … give equivalent results when we use onnxruntime or tensorrt.

3

Hi,

Thanks. We are going to give it a try.
Have you also tested this on JetPack 5.1.1 which just be released recently?

Thanks.

4

Hi,

We have confirmed this issue can be reproduced on Orin with JetPack 5.1.1.
Our internal team is checking on this. Will update more information for you later.

--- output mismatch: (2, 28960) >>> 2.3787856101989746 vs 2.37354 | 0.005245610198974404
--- output mismatch: (2, 28962) >>> 124.85875701904297 vs 124.846 | 0.012757019042965112
--- output mismatch: (2, 28963) >>> 91.82755279541016 vs 91.7947 | 0.03285279541015029
--- output mismatch: (2, 28964) >>> 0.26270583271980286 vs 0.261643 | 0.001062832719802842
--- output mismatch: (2, 28966) >>> 0.11150957643985748 vs 0.109445 | 0.0020645764398574823
...

Thanks.

6

Hi,

Thanks for your patience.

We found this issue is related to tf32 kernels.
As a workaround, please run trtexec with the --noTF32 flag.

The error after applying the workaround is:

err max 0.000645141601566479 mean 3.0629781962014103e-06

Thanks.

7

Thank you for the workaround.

9

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10

Hi,

Is noTF32 fixed your issue?
Thanks.