R^3: On-device Real-Time Deep Reinforcement Learning for Autonomous Robotics

Autonomous robotic systems, like autonomous vehicles and robotic search and rescue, require efficient on-device training for continuous adaptation of Deep Reinforcement Learning (DRL) models in dynamic environments. This research is fundamentally motivated by the need to understand and address the challenges of on-device real-time DRL, which involves balancing timing and algorithm performance under memory constraints, as exposed through our extensive empirical studies. This intricate balance requires co-optimizing two pivotal parameters of DRL training -- batch size and replay buffer size. Configuring these parameters significantly affects timing and algorithm performance, while both (unfortunately) require substantial memory allocation to achieve near-optimal performance. This paper presents R^3, a holistic solution for managing timing, memory, and algorithm performance in on-device real-time DRL training. R^3 employs (i) a deadline-driven feedback loop with dynamic batch sizing for optimizing timing, (ii) efficient memory management to reduce memory footprint and allow larger replay buffer sizes, and (iii) a runtime coordinator guided by heuristic analysis and a runtime profiler for dynamically adjusting memory resource reservations. These components collaboratively tackle the trade-offs in on-device DRL training, improving timing and algorithm performance while minimizing the risk of out-of-memory (OOM) errors. We implemented and evaluated R^3 extensively across various DRL frameworks and benchmarks on three hardware platforms commonly adopted by autonomous robotic systems. Additionally, we integrate R^3 with a popular realistic autonomous car simulator to demonstrate its real-world applicability. Evaluation results show that R^3 achieves efficacy across diverse platforms, ensuring consistent latency performance and timing predictability with minimal overhead.Comment: Accepted by RTSS 202

Human-Machine Collaborative Optimization via Apprenticeship Scheduling

Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years of apprenticeship. A process for manually codifying this domain knowledge within a computational framework is necessary to scale beyond the ``single-expert, single-trainee" apprenticeship model. However, human domain experts often have difficulty describing their decision-making processes, causing the codification of this knowledge to become laborious. We propose a new approach for capturing domain-expert heuristics through a pairwise ranking formulation. Our approach is model-free and does not require enumerating or iterating through a large state space. We empirically demonstrate that this approach accurately learns multifaceted heuristics on a synthetic data set incorporating job-shop scheduling and vehicle routing problems, as well as on two real-world data sets consisting of demonstrations of experts solving a weapon-to-target assignment problem and a hospital resource allocation problem. We also demonstrate that policies learned from human scheduling demonstration via apprenticeship learning can substantially improve the efficiency of a branch-and-bound search for an optimal schedule. We employ this human-machine collaborative optimization technique on a variant of the weapon-to-target assignment problem. We demonstrate that this technique generates solutions substantially superior to those produced by human domain experts at a rate up to 9.5 times faster than an optimization approach and can be applied to optimally solve problems twice as complex as those solved by a human demonstrator.Comment: Portions of this paper were published in the Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper consists of 50 pages with 11 figures and 4 table

EdgeAISim: A Toolkit for Simulation and Modelling of AI Models in Edge Computing Environments

To meet next-generation Internet of Things (IoT) application demands, edge computing moves processing power and storage closer to the network edge to minimize latency and bandwidth utilization. Edge computing is becoming increasingly popular as a result of these benefits, but it comes with challenges such as managing resources efficiently. Researchers are utilising Artificial Intelligence (AI) models to solve the challenge of resource management in edge computing systems. However, existing simulation tools are only concerned with typical resource management policies, not the adoption and implementation of AI models for resource management, especially. Consequently, researchers continue to face significant challenges, making it hard and time-consuming to use AI models when designing novel resource management policies for edge computing with existing simulation tools. To overcome these issues, we propose a lightweight Python-based toolkit called EdgeAISim for the simulation and modelling of AI models for designing resource management policies in edge computing environments. In EdgeAISim, we extended the basic components of the EdgeSimPy framework and developed new AI-based simulation models for task scheduling, energy management, service migration, network flow scheduling, and mobility support for edge computing environments. In EdgeAISim, we have utilized advanced AI models such as Multi-Armed Bandit with Upper Confidence Bound, Deep Q-Networks, Deep Q-Networks with Graphical Neural Network, and Actor-Critic Network to optimize power usage while efficiently managing task migration within the edge computing environment. The performance of these proposed models of EdgeAISim is compared with the baseline, which uses a worst-fit algorithm-based resource management policy in different settings. Experimental results indicate that EdgeAISim exhibits a substantial reduction in power consumption, highlighting the compelling success of power optimization strategies in EdgeAISim. The development of EdgeAISim represents a promising step towards sustainable edge computing, providing eco-friendly and energy-efficient solutions that facilitate efficient task management in edge environments for different large-scale scenarios

A Lagrangian Dual-based Theory-guided Deep Neural Network

The theory-guided neural network (TgNN) is a kind of method which improves the effectiveness and efficiency of neural network architectures by incorporating scientific knowledge or physical information. Despite its great success, the theory-guided (deep) neural network possesses certain limits when maintaining a tradeoff between training data and domain knowledge during the training process. In this paper, the Lagrangian dual-based TgNN (TgNN-LD) is proposed to improve the effectiveness of TgNN. We convert the original loss function into a constrained form with fewer items, in which partial differential equations (PDEs), engineering controls (ECs), and expert knowledge (EK) are regarded as constraints, with one Lagrangian variable per constraint. These Lagrangian variables are incorporated to achieve an equitable tradeoff between observation data and corresponding constraints, in order to improve prediction accuracy, and conserve time and computational resources adjusted by an ad-hoc procedure. To investigate the performance of the proposed method, the original TgNN model with a set of optimized weight values adjusted by ad-hoc procedures is compared on a subsurface flow problem, with their L2 error, R square (R2), and computational time being analyzed. Experimental results demonstrate the superiority of the Lagrangian dual-based TgNN.Comment: 12 pages, 10 figure

Comparison of CNN Classification Model using Machine Learning with Bayesian Optimizer

One of the best-known and frequently used areas of Deep Learning in image processing is the Convolutional Neural Network (CNN), which has architectural designs such as Inceptionv3, DenseNet201, Resnet50, and MobileNet used in image classification and pattern recognition. Furthermore, the CNN extracts feature from the image according to the designed architecture and performs classification through the fully connected layer, which executes the Machine Learning (ML) algorithm tasks. Examples of ML that are commonly used include Naive Bayes (NB), k-Nearest Neighbor (k-NN), Support Vector Machine (SVM), and Decision Tree (DT). This research was conducted based on an AI model development background and the need for a system to diagnose COVID-19 quickly and accurately. The aim was to classify the aforementioned CNN models with ML algorithms and compare the models’ accuracy before and after Bayesian optimization using CXR lung images with a total of 2000 data. Consequently, the CNN extracted 80% of the training data and 20% for testing, which was assigned to four different ML models for classification with the use of Bayesian optimization to ensure the best accuracy. It was observed that the best model classification was generated by the MobileNetV2-SVM structure with an accuracy of 93%. Therefore, the accuracy obtained using the SVM algorithm is higher than the other three ML algorithms. Doi: 10.28991/HIJ-2023-04-03-05 Full Text: PD

Bi-Objective simplified swarm optimization for fog computing task scheduling

In the face of burgeoning data volumes, latency issues present a formidable challenge to cloud computing. This problem has been strategically tackled through the advent of fog computing, shifting computations from central cloud data centers to local fog devices. This process minimizes data transmission to distant servers, resulting in significant cost savings and instantaneous responses for users. Despite the urgency of many fog computing applications, existing research falls short in providing time-effective and tailored algorithms for fog computing task scheduling. To bridge this gap, we introduce a unique local search mechanism, Card Sorting Local Search (CSLS), that augments the non-dominated solutions found by the Bi-objective Simplified Swarm Optimization (BSSO). We further propose Fast Elite Selecting (FES), a ground-breaking one-front non-dominated sorting method that curtails the time complexity of non-dominated sorting processes. By integrating BSSO, CSLS, and FES, we are unveiling a novel algorithm, Elite Swarm Simplified Optimization (EliteSSO), specifically developed to conquer time-efficiency and non-dominated solution issues, predominantly in large-scale fog computing task scheduling conundrums. Computational evidence reveals that our proposed algorithm is both highly efficient in terms of time and exceedingly effective, outstripping other algorithms on a significant scale

Resource Management in Multi-Access Edge Computing (MEC)

This PhD thesis investigates the effective ways of managing the resources of a Multi-Access Edge Computing Platform (MEC) in 5th Generation Mobile Communication (5G) networks. The main characteristics of MEC include distributed nature, proximity to users, and high availability. Based on these key features, solutions have been proposed for effective resource management. In this research, two aspects of resource management in MEC have been addressed. They are the computational resource and the caching resource which corresponds to the services provided by the MEC. MEC is a new 5G enabling technology proposed to reduce latency by bringing cloud computing capability closer to end-user Internet of Things (IoT) and mobile devices. MEC would support latency-critical user applications such as driverless cars and e-health. These applications will depend on resources and services provided by the MEC. However, MEC has limited computational and storage resources compared to the cloud. Therefore, it is important to ensure a reliable MEC network communication during resource provisioning by eradicating the chances of deadlock. Deadlock may occur due to a huge number of devices contending for a limited amount of resources if adequate measures are not put in place. It is crucial to eradicate deadlock while scheduling and provisioning resources on MEC to achieve a highly reliable and readily available system to support latency-critical applications. In this research, a deadlock avoidance resource provisioning algorithm has been proposed for industrial IoT devices using MEC platforms to ensure higher reliability of network interactions. The proposed scheme incorporates Banker’s resource-request algorithm using Software Defined Networking (SDN) to reduce communication overhead. Simulation and experimental results have shown that system deadlock can be prevented by applying the proposed algorithm which ultimately leads to a more reliable network interaction between mobile stations and MEC platforms. Additionally, this research explores the use of MEC as a caching platform as it is proclaimed as a key technology for reducing service processing delays in 5G networks. Caching on MEC decreases service latency and improve data content access by allowing direct content delivery through the edge without fetching data from the remote server. Caching on MEC is also deemed as an effective approach that guarantees more reachability due to proximity to endusers. In this regard, a novel hybrid content caching algorithm has been proposed for MEC platforms to increase their caching efficiency. The proposed algorithm is a unification of a modified Belady’s algorithm and a distributed cooperative caching algorithm to improve data access while reducing latency. A polynomial fit algorithm with Lagrange interpolation is employed to predict future request references for Belady’s algorithm. Experimental results show that the proposed algorithm obtains 4% more cache hits due to its selective caching approach when compared with case study algorithms. Results also show that the use of a cooperative algorithm can improve the total cache hits up to 80%. Furthermore, this thesis has also explored another predictive caching scheme to further improve caching efficiency. The motivation was to investigate another predictive caching approach as an improvement to the formal. A Predictive Collaborative Replacement (PCR) caching framework has been proposed as a result which consists of three schemes. Each of the schemes addresses a particular problem. The proactive predictive scheme has been proposed to address the problem of continuous change in cache popularity trends. The collaborative scheme addresses the problem of cache redundancy in the collaborative space. Finally, the replacement scheme is a solution to evict cold cache blocks and increase hit ratio. Simulation experiment has shown that the replacement scheme achieves 3% more cache hits than existing replacement algorithms such as Least Recently Used, Multi Queue and Frequency-based replacement. PCR algorithm has been tested using a real dataset (MovieLens20M dataset) and compared with an existing contemporary predictive algorithm. Results show that PCR performs better with a 25% increase in hit ratio and a 10% CPU utilization overhead

AI augmented Edge and Fog computing: trends and challenges

In recent years, the landscape of computing paradigms has witnessed a gradual yet remarkable shift from monolithic computing to distributed and decentralized paradigms such as Internet of Things (IoT), Edge, Fog, Cloud, and Serverless. The frontiers of these computing technologies have been boosted by shift from manually encoded algorithms to Artificial Intelligence (AI)-driven autonomous systems for optimum and reliable management of distributed computing resources. Prior work focuses on improving existing systems using AI across a wide range of domains, such as efficient resource provisioning, application deployment, task placement, and service management. This survey reviews the evolution of data-driven AI-augmented technologies and their impact on computing systems. We demystify new techniques and draw key insights in Edge, Fog and Cloud resource management-related uses of AI methods and also look at how AI can innovate traditional applications for enhanced Quality of Service (QoS) in the presence of a continuum of resources. We present the latest trends and impact areas such as optimizing AI models that are deployed on or for computing systems. We layout a roadmap for future research directions in areas such as resource management for QoS optimization and service reliability. Finally, we discuss blue-sky ideas and envision this work as an anchor point for future research on AI-driven computing systems

DYNAMITE: Dynamic Interplay of Mini-Batch Size and Aggregation Frequency for Federated Learning with Static and Streaming Dataset

Federated Learning (FL) is a distributed learning paradigm that can coordinate heterogeneous edge devices to perform model training without sharing private data. While prior works have focused on analyzing FL convergence with respect to hyperparameters like batch size and aggregation frequency, the joint effects of adjusting these parameters on model performance, training time, and resource consumption have been overlooked, especially when facing dynamic data streams and network characteristics. This paper introduces novel analytical models and optimization algorithms that leverage the interplay between batch size and aggregation frequency to navigate the trade-offs among convergence, cost, and completion time for dynamic FL training. We establish a new convergence bound for training error considering heterogeneous datasets across devices and derive closed-form solutions for co-optimized batch size and aggregation frequency that are consistent across all devices. Additionally, we design an efficient algorithm for assigning different batch configurations across devices, improving model accuracy and addressing the heterogeneity of both data and system characteristics. Further, we propose an adaptive control algorithm that dynamically estimates network states, efficiently samples appropriate data batches, and effectively adjusts batch sizes and aggregation frequency on the fly. Extensive experiments demonstrate the superiority of our offline optimal solutions and online adaptive algorithm.Comment: 20 pages, 12 figure