Thursday, July 21, 2016

Basics of I/O Benchmarking

Most people in the supercomputing business are familiar with using FLOPS as a proxy for how fast or capable a supercomputer is.  This measurement, as observed using the High-Performance Linpack (HPL) benchmark, is the basis for the Top500 list.  However, I/O performance is becoming increasingly important as data-intensive computing becomes a driving force in the HPC community, and even though there is no Top500 list for I/O subsystems, the IOR benchmark has become the de facto standard way to measure the I/O capability for clusters and supercomputers.

Unfortunately, I/O performance tends to be trickier to measure using synthetic benchmarks because of the complexity of the I/O stack that lies between where data is generated (the CPU) to where it'll ultimately be stored (a spinning disk or SSD on a network file system).  In the interests of clarifying some of the confusion that can arise when trying to determine how capable an I/O subsystem really is, let's take a look at some of the specifics of running IOR.

Getting Started with IOR

IOR writes data sequentially with the following parameters:
  • blockSize (-b)
  • transferSize (-t)
  • segmentCount (-s)
  • numTasks (-n)
which are best illustrated with a diagram:

These four parameters are all you need to get started with IOR.  However, naively running IOR usually gives disappointing results.  For example, if we run a four-node IOR test that writes a total of 16 GiB:

$ mpirun -n 64 ./ior -t 1m -b 16m -s 16
access bw(MiB/s) block(KiB) xfer(KiB) open(s)  wr/rd(s) close(s) total(s) iter
------ --------- ---------- --------- -------- -------- -------- -------- ----
write  427.36    16384      1024.00   0.107961 38.34    32.48    38.34    2
read   239.08    16384      1024.00   0.005789 68.53    65.53    68.53    2
remove -         -          -         -        -        -        0.534400 2

we can only get a couple hundred megabytes per second out of a Lustre file system that should be capable of a lot more.

Switching from writing to a single-shared file to one file per process using the -F (filePerProcess=1) option changes the performance dramatically:

$ mpirun -n 64 ./ior -t 1m -b 16m -s 16 -F
access bw(MiB/s) block(KiB) xfer(KiB) open(s)  wr/rd(s) close(s) total(s) iter
------ --------- ---------- --------- -------- -------- -------- -------- ----
write  33645     16384      1024.00   0.007693 0.486249 0.195494 0.486972 1
read   149473    16384      1024.00   0.004936 0.108627 0.016479 0.109612 1
remove -         -          -         -        -        -        6.08     1

This is in large part because letting each MPI process work on its own file cuts out any contention that would arise because of file locking.  

However, the performance difference between our naive test and the file-per-process test is a bit extreme.  In fact, the only way that 146 GB/sec read rate could be achievable on Lustre is if each of the four compute nodes had over 45 GB/sec of network bandwidth to Lustre--that is, a 400 Gbit link on every compute and storage node.

Effect of Page Cache on Benchmarking

What's really happening is that the data being read by IOR isn't actually coming from Lustre; rather, files' contents are already cached, and IOR is able to read them directly out of each compute node's DRAM.  The data wound up getting cached during the write phase of IOR as a result of Linux (and Lustre) using a write-back cache to buffer I/O, so that instead of IOR writing and reading data directly to Lustre, it's actually mostly talking to the memory on each compute node.

To be more specific, although each IOR process thinks it is writing to a file on Lustre and then reading back the contents of that file from Lustre, it is actually
  1. writing data to a copy of the file that is cached in memory.  If there is no copy of the file cached in memory before this write, the parts being modified are loaded into memory first.
  2. those parts of the file in memory (called "pages") that are now different from what's on Lustre are marked as being "dirty"
  3. the write() call completes and IOR continues on, even though the written data still hasn't been committed to Lustre
  4. independent of IOR, the OS kernel continually scans the file cache for files who have been updated in memory but not on Lustre ("dirt pages"), and then commits the cached modifications to Lustre
  5. dirty pages are declared non-dirty since they are now in sync with what's on disk, but they remain in memory
Then when the read phase of IOR follows the write phase, IOR is able to just retrieve the file's contents from memory instead of having to communicate with Lustre over the network.

There are a couple of ways to measure the read performance of the underlying Lustre file system. The most crude way is to simply write more data than will fit into the total page cache so that by the time the write phase has completed, the beginning of the file has already been evicted from cache. For example, increasing the number of segments (-s) to write more data reveals the point at which the nodes' page cache on my test system runs over very clearly:

However, this can make running IOR on systems with a lot of on-node memory take forever.

A better option would be to get the MPI processes on each node to only read data that they didn't write.  For example, on a four-process-per-node test, shifting the mapping of MPI processes to blocks by four makes each node N read the data written by node N-1.

Since page cache is not shared between compute nodes, shifting tasks this way ensures that each MPI process is reading data it did not write.

IOR provides the -C option (reorderTasks) to do this, and it forces each MPI process to read the data written by its neighboring node.  Running IOR with this option gives much more credible read performance:

$ mpirun -n 64 ./ior -t 1m -b 16m -s 16 -F -C
access bw(MiB/s) block(KiB) xfer(KiB) open(s)  wr/rd(s) close(s) total(s) iter
------ --------- ---------- --------- -------- -------- -------- -------- ----
write  41326     16384      1024.00   0.005756 0.395859 0.095360 0.396453 0
read   3310.00   16384      1024.00   0.011786 4.95     4.20     4.95     1
remove -         -          -         -        -        -        0.237291 1

But now it should seem obvious that the write performance is also ridiculously high. And again, this is due to the page cache, which signals to IOR that writes are complete when they have been committed to memory rather than the underlying Lustre file system.

To work around the effects of the page cache on write performance, we can issue an fsync() call immediately after all of the write()s return to force the dirty pages we just wrote to flush out to Lustre. Including the time it takes for fsync() to finish gives us a measure of how long it takes for our data to write to the page cache and for the page cache to write back to Lustre.

IOR provides another convenient option, -e (fsync), to do just this. And, once again, using this option changes our performance measurement quite a bit:

$ mpirun -n 64 ./ior -t 1m -b 16m -s 16 -F -C -e
access bw(MiB/s) block(KiB) xfer(KiB) open(s)  wr/rd(s) close(s) total(s) iter
------ --------- ---------- --------- -------- -------- -------- -------- ----
write  2937.89   16384      1024.00   0.011841 5.56     4.93     5.58     0
read   2712.55   16384      1024.00   0.005214 6.04     5.08     6.04     3
remove -         -          -         -        -        -        0.037706 0

and we finally have a believable bandwidth measurement for our file system.

Defeating Page Cache

Since IOR is specifically designed to benchmark I/O, it provides these options that make it as easy as possible to ensure that you are actually measuring the performance of your file system and not your compute nodes' memory.  That being said, the I/O patterns it generates are designed to demonstrate peak performance, not reflect what a real application might be trying to do, and as a result, there are plenty of cases where measuring I/O performance with IOR is not always the best choice.  There are several ways in which we can get clever and defeat page cache in a more general sense to get meaningful performance numbers.

When measuring write performance, bypassing page cache is actually quite simple; opening a file with the O_DIRECT flag going directly to disk.  In addition, the fsync() call can be inserted into applications, as is done with IOR's -e option.

Measuring read performance is a lot trickier.  If you are fortunate enough to have root access on a test system, you can force the Linux kernel to empty out its page cache by doing
# echo 1 > /proc/sys/vm/drop_caches
and in fact, this is often good practice before running any benchmark (e.g., Linpack) because it ensures that you aren't losing performance to the kernel trying to evict pages as your benchmark application starts allocating memory for its own use.

Unfortunately, many of us do not have root on our systems, so we have to get even more clever.  As it turns out, there is a way to pass a hint to the kernel that a file is no longer needed in page cache:

The effect of passing POSIX_FADV_DONTNEED using posix_fadvise() is usually that all pages belonging to that file are evicted from page cache in Linux.  However, this is just a hint--not a guarantee--and the kernel evicts these pages asynchronously, so it may take a second or two for pages to actually leave page cache.  Fortunately, Linux also provides a way to probe pages in a file to see if they are resident in memory.

Finally, it's often easiest to just limit the amount of memory available for page cache.  Because application memory always takes precedence over cache memory, simply allocating most of the memory on a node will force most of the cached pages to be evicted.  Newer versions of IOR provide the memoryPerNode option that do just that, and the effects are what one would expect:

The above diagram shows the measured bandwidth from a single node with 128 GiB of total DRAM.  The first percent on each x-label is the amount of this 128 GiB that was reserved by the benchmark as application memory, and the second percent is the total write volume.  For example, the "50%/150%" data points correspond to 50% of the node memory (64 GiB) being allocated for the application, and a total of 192 GiB of data being read.

This benchmark was run on a single spinning disk which is not capable of more than 130 MB/sec, so the conditions that showed performance higher than this were benefiting from some pages being served from cache.  And this makes perfect sense given that the anomalously high performance measurements were obtained when there was plenty of memory to cache relative to the amount of data being read.


Measuring I/O performance is a bit trickier than CPU performance in large part due to the effects of page caching.  That being said, page cache exists for a reason, and there are many cases where an application's I/O performance really is best represented by a benchmark that heavily utilizes cache.

For example, the BLAST bioinformatics application re-reads all of its input data twice; the first time initializes data structures, and the second time fills them up.  Because the first read caches each page and allows the second read to come out of cache rather than the file system, running this I/O pattern with page cache disabled causes it to be about 2x slower:

Thus, letting the page cache do its thing is often the most realistic way to benchmark with realistic application I/O patterns.  Once you know how page cache might be affecting your measurements, you stand a good chance of being able to reason about what the most meaningful performance metrics are.

Monday, June 20, 2016

An uninformed perspective on TaihuLight's design

Note: What follows are my own personal thoughts, opinions, and analyses.  I am not a computer scientist and I don't really know anything about processor design or application performance, so it is safe to assume I don't know what I'm talking about.  None of this represents the views of my employer, the U.S. government, or anyone except me.

China's new 93 PF TaihuLight system is impressive given the indigenous processor design and its substantial increase in its HPL score over the #2 system, Tianhe-2.  The popular media has started covering this new system and the increasing presence of Chinese systems on Top500, suggesting that China's string of #1 systems may be a sign of shifting tides.  And maybe it is.  China is undeniably committed to investing in supercomputing and positioning itself as a leader in extreme-scale computing.

That being said, the TaihuLight system isn't quite the technological marvel and threat to the HPC hegemony that it may seem at first glance.  The system features some some critically limiting design choices that make the system smell like a supercomputer that was designed to be #1 on Top500, not solve scientific problems.  This probably sounds like sour grapes at this point, so let's take a look at some of the details.

Back-of-the-envelope math

Consider the fact that each TaihuLight node turns 3,062 GFLOPS (that's 3 TFLOPS) and has 136.51 GB/sec of memory bandwidth. This means that in the time it takes for the processor to load two 64-bit floats into the processor from memory, it could theoretically perform over 350 floating point operations. But it won't, because it can only load the two operands for one single FLOP.

Of course, this is an oversimplification of how CPUs work.  Caches exist to feed the extremely high operation rate of modern processors, and where there are so many cores that their caches can't be fed fast enough, we see technologies like GDDR DRAM and HBM (on accelerators) and on-package MCDRAM (on KNL) appearing so that dozens or hundreds of cores can all retrieve enough floating-point operands from memory to sustain high rates of floating point calculations.

However, the ShenWei SW26010 chips in the TaihuLight machine have neither GDDR nor MCDRAM; they rely on four DDR3 controllers running at 136 GB/sec to keep all 256 compute elements fed with data.  Dongarra's report on the TaihuLight design briefly mentions this high skew:

"The ratio of floating point operations per byte of data from memory on the SW26010 is 22.4 Flops(DP)/Byte transfer, which shows an imbalance or an overcapacity of floating point operations per data transfer from memory. By comparison the Intel Knights Landing processor with 7.2 Flops(DP)/Byte transfer."

This measure of "Flops(DP)/Byte transfer" is called arithmetic intensity, and it is a critical optimization parameter when writing applications for manycore architectures.  Highly optimized GPU codes can show arithmetic intensities of around 10 FLOPS/byte, but such applications are often the exception; there are classes of problems that simply do not have high arithmetic intensities.  This diagram, which I stole from the Performance and Algorithms Research group at Berkeley Lab, illustrates the spectrum:

To put this into perspective in the context of hardware, let's look at the #3 supercomputer, the Titan system at Oak Ridge National Lab.  The GPUs on which it is built (NVIDIA's K20X) each have a GDDR5-based memory subsystem that can feed the 1.3 TFLOP GPUs at 250 GB/sec.  This means that Titan's FLOPS/byte ratio is around 5.3, or over 4x lower (more balanced) than the 22 FLOPS/byte of TaihuLight's SW26010 chips.

This huge gap means that an application that is perfectly balanced to run on a Titan GPU--that is, an application with an arithmetic intensity of 5.3--will run 4x slower on one of TaihuLight's SW26010 processors than a Titan GPU.  Put simply, despite being theoretically capable of doing 3 TFLOPS of computing, TaihuLight's processors would only be able to deliver performance to 1/4th of that, or 0.75 TFLOPS, to this application.  Because of the severely limited per-node memory bandwidth, this 93 PFLOP system would perform like a 23 PFLOP system on an application that, given an arithmetic intensity of 5.3, would be considered highly optimized by most standards.

Of course, the indigenous architecture also means that application developers will have to rely on indigenous implementations or ports of performance runtimes like OpenMP and OpenACC, libraries like BLAS, and ISA-specific vector intrinsics.  The maturity of this software stack for the ShenWei-64 architecture remains unknown.

What is interesting

This all isn't to say that the TaihuLight system isn't a notable achievement; it is the first massive-scale deployment of a CPU-based manycore processor, it is the first massive-scale deployment of EDR InfiniBand, and its CPU design is extremely interesting in a number of ways.

The CPU block diagrams included in Dongarra's report are a bit like a Rorschach test; my esteemed colleagues at The Next Platform astutely pointed out its similarities to KNL, but my first reaction was to compare it with IBM's Cell processor:

IBM Cell BE vs. ShenWei SW26010.  Cell diagram stolen from NAS; SW26010 diagram stolen from the Dongarra report.

The Cell processor was ahead of its time in many ways and arguably the first manycore chip targeted at HPC.  It had
  • a single controller core (the PPE) with L1 and L2 caches
  • eight simpler cores (the SPEs) on an on-chip network with no L2 cache, but an embedded SRAM scratchpad
and by comparison, the SW26010 has
  • a single controller core (the MPE) with L1 and L2 caches
  • sixty-four simpler cores (the CPEs) on an on-chip network with no L2 cache, but an embedded SRAM scratchpad
Of course, the similarities are largely superficial and there are vast differences between the two architectures, but the incorporation of heterogeneous (albeit very similar) cores on a single package is quite bold and is a design point that may play a role in exascale processor designs:

What an exascale processor might look like, as stolen from Kathy Yelick

which may feature a combination of many lightweight cores (not unlike the CPE arrays on the TaihuLight processor) and are accompanied by a few capable cores (not unlike the MPE cores).

The scratchpad SRAM present on all of the CPE cores is also quite intriguing, as it is a marked departure from the cache-oriented design of on-package SRAM that has dominated CPU architectures for decades.  The Dongarra report doesn't detail how the scratchpad SRAM is used by applications, but it may offer a unique new way to perform byte-granular loads and stores that do not necessarily waste a full cache line's worth of memory bandwidth if the application knows that memory access is to be unaligned.

This is a rather forward-looking design decision that makes the CPU look a little more like a GPU.  Some experimental processor designs targeting exascale have proposed eschewing deep cache hierarchies in favor of similar scratchpads:

The Traleika Glacier processor design, featuring separate control and execution blocks and scratchpad SRAM.  Adapted from the Traleika Glacier wiki page.

Whether or not we ever hear about how successful or unsuccessful these processor features are remains to be seen, but there may be valuable lessons to be learned ahead of the first generation of exascale processors from architectures like those in the TaihuLight system.


At a glance, it is easy to call out the irony in the U.S. government's decision to ban the sale of Intel's KNL processors to the Chinese now that the TaihuLight system is public.  It is clear that China is in a position to begin building extreme-scale supercomputers without the help of Intel, and it is very likely that the U.S. embargo accelerated this effort.  As pondered by an notable pundit in the HPC community,

And this may have been the case.  However, despite the TaihuLight system's #1 position and very noteworthy Linpack performance and efficiency, is not the massive disruptor that puts the U.S. in the back seat.  Underneath TaihuLight's shiny, 93-petaflop veneer are some cut corners that substantially lower its ability to reliably deliver the performance and scientific impact commensurate to its Linpack score.  As pointed out by a colleague wiser than me, Intel's impending KNL chip is the product of years of effort, and it is likely that it will be years before ShenWei's chip designs and fabs are able to be really deliver a fully balanced, competitive, HPC-oriented microarchitecture.

With that being said, TaihuLight is still a massive system, and even if its peak Linpack score is not representative of its actual achievable performance in solving real scientific problems, it is undeniably a leadership system.  Even if applications can only realize a small fraction of its Linpack performance, there is a lot of discovery to be made in petascale computing.

Further, the SW201060 processor itself features some bold design points, and being able to test a heterogeneous processor with scratchpad SRAM at extreme scale may give China a leg up in the exascale architecture design space.  Only time will tell if these opportunities are pursued, or if TaihuLight follows its predecessors into an existence of disuse in a moldy datacenter caused by a high electric bill, poor system design, and lack of software.

Monday, July 20, 2015

On "active learning" and teaching science

Nature ran an article last week by Dr. Mitchell Waldrop titled "Why we are teaching science wrong, and how to make it right" (or alternatively, "The science of teaching science") which really ground my gears.  The piece puts forward this growing trend of "active learning" where, rather than traditional lecture-based course instruction, students are put in a position where they must apply subject matter to solve open-ended problems.  In turn, this process of applying knowledge leads students to walk away with a more meaningful understanding of the material and demonstrate a much longer retention of the information.

It bothers me that the article seems to conflate "life sciences" with "science."  The fact that students more effectively learn material when they are required to engage with the information over rote memorization and regurgitation is not new.  This "active learning" methodology may seem revolutionary to life science (six of eight advocates quoted are of the life sciences), but the fact of the matter is that this method has been the foundation of physics and engineering education for literally thousands of years.  "Active learning," which seems to be a re-branding of the Socratic method, is how critical thinking skills are developed.  If this concept of education by application is truly new to the life sciences, then that is a shortcoming that is not endemic throughout the sciences as the article's title would suggest.

The article goes on to highlight a few reasons why adoption of the Socratic method in teaching "science" is slow going, but does so while failing to acknowledge two fundamental facts about education and science: effective education takes time, and scientists are not synonymous with educators.

I have had the benefit of studying under some of the best educators I have ever known.  The views I express below are no doubt colored by this, and perhaps all of science is truly filled with ineffective educators.  However as a former materials scientist now working in the biotech industry, I have an idea that the assumptions expressed in this article (which mirror the attitudes of the biologists with whom I work) are not as universal throughout science as Dr. Waldrop would have us think.  With that being said, I haven't taught anything other than workshops for the better part of a decade, so the usual caveats about my writing apply here--I don't know what I'm talking about, so take it all with a grain of salt.

Effective education takes time

The article opens with an anecdote about how Tammy Tobin, a biology professor at Susquehanna University, has her third- and fourth-year students work through a mock viral outbreak.  While this is an undoubtedly memorable exercise that gives students a chance to apply what they learned in class, the article fails to acknowledge that one cannot actually teach virology or epidemiology this way.  This exercise is only effective for third- and fourth-year students who have spent two or three years obtaining the foundational knowledge that allows them to translate the lessons learned from this mock outbreak to different scenarios--that is, to actually demonstrate higher-order cognitive understanding of the scientific material.

As I said above though, this is not a new or novel concept.  In fact, all engineering and applied sciences curricula accredited by ABET are required to include a course exactly like this Susquehanna University experience.  Called the capstone design component, students spend their last year at university working in a collaborative setting with their peers to tackle an applied project like designing a concrete factory or executing an independent research program.  As a result, it is a fact that literally every single graduate of an accredited engineering undergraduate degree program in the United States has gone through an "active learning" project where they have to apply their coursework knowledge to solving a real-world problem.

In all fairness, the capstone project requirement is just a single course that represents a small fraction (typically less than 5%) of students' overall credits towards graduation.   This is a result of a greater fact that the article completely ignores--education takes time.  Professor Tobin's virus outbreak exercise had students looking at flight schedules to Chicago to ensure there were enough seats for a mock trip to ground zero, but realize that students were paying tuition money to do this.  In the time it took students to book fake plane tickets, how much information about epidemiology could have been conveyed in lecture format?  When Prof. Tobin says her course "looked at the intersection of politics, sociology, biology, even some economics," is that really appropriate for a virology course?

This is not to say that the detail with which Prof. Tobin's exercise was executed was a waste of time, tuition dollars, or anything else; as the article rightly points out, the students who took this course are likely to have walked away from it with a more meaningful grasp of applied virology and epidemiology than they would have otherwise.  However, the time it takes to execute these active learning projects at such a scale cuts deeply into the two- or three-year curriculum that most programs have to provide all of the required material for a four-year degree.  This is why "standard lectures" remain the prevailing way to teach scientific courses--lectures are informationally dense, and the "active learning" component comes in the form of homework and projects that are done outside of the classroom.

While the article implies that homework and exercises in this context are just "cookbook exercises," I get the impression that such is only true in the life sciences.  Rote memorization in physics and engineering is simply not valued, and this is why students are typically allowed to bring cheat sheets full of equations, constants, and notes with them into exams.  Rather than providing cookbook exercises, assignments and examinations require that students be able to apply the physical concepts learned in lecture to solve problems.  This is simply how physics and engineering are taught, and it is a direct result of the fact that there are not enough hours in a four-year program to forego lecturing and still effectively convey all of the required content.

And this is not to say that lecturing has to be completely one-way communication; the Socratic method can be extremely effective in lectures.  The article cites a great example of this when describing a question posed by Dr. Sarah Leupen's to her students:  What would happen if the sensory neurons in your legs stopped working as you were walking down the street?  Rather than providing all of the information to answer the question before posing the question itself, posing the question first allows students to figure out the material themselves through discussion.  The discussion is guided towards the correct answer by the lecturer's careful choice of follow-up questions to students' hypotheses to further stimulate critical thinking.

Of course, this Socratic approach in class can waste a tremendous amount of time if the lecturer is not able to effectively dial into each student's aptitudes when posing questions.  In addition, this only works for small classroom sizes; in practice, the discussion is often dominated by a minority of students and the majority simply remain unengaged.  Being able to keep all students engaged, even in a small-classroom setting, requires a great deal of skill in understanding people and how to motivate them.   Finding the right balance of one-sided lecturing and Socratic teaching is an exercise in careful time economics which can change every week.  As a result, it is often easier to simply forego the Socratic method and just deliver lecture; however, this is not always a matter of stodginess or laziness as the article implies, but simply weighing the costs given a fixed amount of material and a fixed period of time.

"Active learning" can be applied in a time-conservative way; this is the basis for a growing number of intensive, hands-on bootcamp programs that teach computer programming skills in twelve weeks. These programs eschew teaching the foundational knowledge of computer science and throw their students directly into applying it in useful (read: employable) ways.  While these programs certainly produce graduates who can write computer programs, these graduates are often unable to grasp important design and performance considerations because they lack a knowledge of the foundations.  In a sense, this example of how applied-only coursework produces technicians, not scientists and engineers.

Scientists are not always educators

The article also cites a number of educators and scientists (all in the life sciences, of course) who are critical of other researchers for not investing time (or alternatively, not being incentivized to invest time) into exploring more effective teaching methodologies.  While I agree that effective teaching is the responsibility of anyone whose job is to teach, the article carries an additional undertone that asserts that researchers should be effective teachers.  The problem is that this is not true; the entanglement of scientific research and scientific education is a result of necessity, and the fact of the matter is that there are a large group of science educators who simply teach because they are required to.

I cannot name a single scientist who went through the process of earning a doctorate in science or engineering because he or she wanted to teach.  Generally speaking, scientists become scientists because they want to do science, and teaching is often a byproduct of being one of the elite few who have the requisite knowledge to actually teach others how to be scientists or engineers.  This is not to say that there are no good researchers who also value education; this article's interviews are a testament to that.  Further, the hallmarks of great researchers and great educators overlap; dissemination of new discoveries is little more than being the first person to teach a new concept to other scientists.  However, the issue of science educators being often disinterested in effective teaching techniques can only be remedied by first acknowledging that teaching is not always most suitably performed by researchers.

The article does speak to some progress being made by institutions which include teaching as a criteria for tenure review.  However the notion of tenure is, at its roots, tied to preserving the academic freedom to do research in controversial areas.  It has little to do with the educational component of being a professor, so to a large degree, it does make sense to base tenure decisions largely on the research productivity, not the pedagogical productivity, of individuals.  Thus, the fact that educators are being driven to focus on research over education is a failing of the university brought about by this entanglement of education and research.

Actually building a sustainable financial model that supports this disentangling of education from research is not something I can pretend to do.  Just as effective teaching takes time, it also costs money, and matching every full-time researcher with a full-time educator across every science and engineering department at a university would not be economical.  However just as there are research professors whose income is derived solely from grants, perhaps there should be equivalent positions for distinguished educators who are fully supported by the university.  As it stands, there is little incentive (outside of financial necessity) for any scientist with a gift for teaching to become a full-time lecturer within the typical university system.

Whatever form progress may take though, as long as education remains entangled with research, the cadence of improvement will be set by the lowest common denominator.