arXiv subjects

Florian Schmidt

Publications and source records attributed to Florian Schmidt.

At least 19 recordsLinked to original sources

arXiv2026

Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits

Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need for active control. By tuning posture and muscle stiffness, they leverage their embodied intelligence to achieve effective gaits for different speeds. In contrast, most quadruped robots are not specifically designed to exploit mechanical resonance due to the complexity of nonlinear dynamics and require dedicated locomotion controllers. To provide an alternative, we present a proof of concept framework making the nonlinear dynamics of a robot predictable in the design process and show how this knowledge can be leveraged such that multi-gait locomotion can emerge from nonlinear resonances, shaped by gravity, inertia, and elasticity. We present the highly compliant quadruped robot eBert, on which we identify six nonlinear normal modes (NNMs) using our new theoretical tools and validate their existence in simulation and hardware. With black-box optimization to determine step length, simulations show how each NNM naturally develops into a distinct gait, manifesting different speeds, which also largely transfers to the robotic hardware. Our experiments show that eBert can exploit its mechanics to generate task-specific movements which may serve as foundation for designing a new generation of agile and efficient robots leveraging embodied intelligence.

cs.RO↗

arXiv2022

Efficient Runtime Profiling for Black-box Machine Learning Services on Sensor Streams

In highly distributed environments such as cloud, edge and fog computing, the application of machine learning for automating and optimizing processes is on the rise. Machine learning jobs are frequently applied in streaming conditions, where models are used to analyze data streams originating from e.g. video streams or sensory data. Often the results for particular data samples need to be provided in time before the arrival of next data. Thus, enough resources must be provided to ensure the just-in-time processing for the specific data stream. This paper focuses on proposing a runtime modeling strategy for containerized machine learning jobs, which enables the optimization and adaptive adjustment of resources per job and component. Our black-box approach assembles multiple techniques into an efficient runtime profiling method, while making no assumptions about underlying hardware, data streams, or applied machine learning jobs. The results show that our method is able to capture the general runtime behaviour of different machine learning jobs already after a short profiling phase.

cs.DC↗

arXiv2021

LOS: Local-Optimistic Scheduling of Periodic Model Training For Anomaly Detection on Sensor Data Streams in Meshed Edge Networks

Anomaly detection is increasingly important to handle the amount of sensor data in Edge and Fog environments, Smart Cities, as well as in Industry 4.0. To ensure good results, the utilized ML models need to be updated periodically to adapt to seasonal changes and concept drifts in the sensor data. Although the increasing resource availability at the edge can allow for in-situ execution of model training directly on the devices, it is still often offloaded to fog devices or the cloud. In this paper, we propose Local-Optimistic Scheduling (LOS), a method for executing periodic ML model training jobs in close proximity to the data sources, without overloading lightweight edge devices. Training jobs are offloaded to nearby neighbor nodes as necessary and the resource consumption is optimized to meet the training period while still ensuring enough resources for further training executions. This scheduling is accomplished in a decentralized, collaborative and opportunistic manner, without full knowledge of the infrastructure and workload. We evaluated our method in an edge computing testbed on real-world datasets. The experimental results show that LOS places the training executions close to the input sensor streams, decreases the deviation between training time and training period by up to 40% and increases the amount of successfully scheduled training jobs compared to an in-situ execution.

cs.DC↗

arXiv2021

EdgePier: P2P-based Container Image Distribution in Edge Computing Environments

Edge and fog computing architectures utilize container technologies in order to offer a lightweight application deployment. Container images are stored in registry services and operated by orchestration platforms to download and start the respective applications on nodes of the infrastructure. During large application rollouts, the connection to the registry is prone to become a bottleneck, which results in longer provisioning times and deployment latencies. Previous work has mainly addressed this problem by proposing scalable registries, leveraging the BitTorrent protocol or distributed storage to host container images. However, for lightweight and dynamic edge environments the overhead of several dedicated components is not feasible in regard to its interference of the actual workload and is subject to failures due to the introduced complexity. In this paper we introduce a fully decentralized container registry called EdgePier, that can be deployed across edge sites and is able to decrease container deployment times by utilizing peer-to-peer connections between participating nodes. Image layers are shared without the need for further centralized orchestration entities. The conducted evaluation shows that the provisioning times are improved by up to 65% in comparison to a baseline registry, even with limited bandwidth to the cloud.

cs.DC↗

arXiv2021

Towards a Cognitive Compute Continuum: An Architecture for Ad-Hoc Self-Managed Swarms

In this paper we introduce our vision of a Cognitive Computing Continuum to address the changing IT service provisioning towards a distributed, opportunistic, self-managed collaboration between heterogeneous devices outside the traditional data center boundaries. The focal point of this continuum are cognitive devices, which have to make decisions autonomously using their on-board computation and storage capacity based on information sensed from their environment. Such devices are moving and cannot rely on fixed infrastructure elements, but instead realise on-the-fly networking and thus frequently join and leave temporal swarms. All this creates novel demands for the underlying architecture and resource management, which must bridge the gap from edge to cloud environments, while keeping the QoS parameters within required boundaries. The paper presents an initial architecture and a resource management framework for the implementation of this type of IT service provisioning.

cs.NI↗

arXiv2021

Towards AIOps in Edge Computing Environments

Edge computing was introduced as a technical enabler for the demanding requirements of new network technologies like 5G. It aims to overcome challenges related to centralized cloud computing environments by distributing computational resources to the edge of the network towards the customers. The complexity of the emerging infrastructures increases significantly, together with the ramifications of outages on critical use cases such as self-driving cars or health care. Artificial Intelligence for IT Operations (AIOps) aims to support human operators in managing complex infrastructures by using machine learning methods. This paper describes the system design of an AIOps platform which is applicable in heterogeneous, distributed environments. The overhead of a high-frequency monitoring solution on edge devices is evaluated and performance experiments regarding the applicability of three anomaly detection algorithms on edge devices are conducted. The results show, that it is feasible to collect metrics with a high frequency and simultaneously run specific anomaly detection algorithms directly on edge devices with a reasonable overhead on the resource utilization.

cs.DC↗

arXiv2021

Optimizing Convergence for Iterative Learning of ARIMA for Stationary Time Series

Forecasting of time series in continuous systems becomes an increasingly relevant task due to recent developments in IoT and 5G. The popular forecasting model ARIMA is applied to a large variety of applications for decades. An online variant of ARIMA applies the Online Newton Step in order to learn the underlying process of the time series. This optimization method has pitfalls concerning the computational complexity and convergence. Thus, this work focuses on the computational less expensive Online Gradient Descent optimization method, which became popular for learning of neural networks in recent years. For the iterative training of such models, we propose a new approach combining different Online Gradient Descent learners (such as Adam, AMSGrad, Adagrad, Nesterov) to achieve fast convergence. The evaluation on synthetic data and experimental datasets show that the proposed approach outperforms the existing methods resulting in an overall lower prediction error.

cs.LG↗

arXiv2021

Artificial Intelligence for IT Operations (AIOPS) Workshop White Paper

Artificial Intelligence for IT Operations (AIOps) is an emerging interdisciplinary field arising in the intersection between the research areas of machine learning, big data, streaming analytics, and the management of IT operations. AIOps, as a field, is a candidate to produce the future standard for IT operation management. To that end, AIOps has several challenges. First, it needs to combine separate research branches from other research fields like software reliability engineering. Second, novel modelling techniques are needed to understand the dynamics of different systems. Furthermore, it requires to lay out the basis for assessing: time horizons and uncertainty for imminent SLA violations, the early detection of emerging problems, autonomous remediation, decision making, support of various optimization objectives. Moreover, a good understanding and interpretability of these aiding models are important for building trust between the employed tools and the domain experts. Finally, all this will result in faster adoption of AIOps, further increase the interest in this research field and contribute to bridging the gap towards fully-autonomous operating IT systems. The main aim of the AIOPS workshop is to bring together researchers from both academia and industry to present their experiences, results, and work in progress in this field. The workshop aims to strengthen the community and unite it towards the goal of joining the efforts for solving the main challenges the field is currently facing. A consensus and adoption of the principles of openness and reproducibility will boost the research in this emerging area significantly.

cs.LG↗

arXiv2020

The voice of COVID-19: Acoustic correlates of infection

COVID-19 is a global health crisis that has been affecting many aspects of our daily lives throughout the past year. The symptomatology of COVID-19 is heterogeneous with a severity continuum. A considerable proportion of symptoms are related to pathological changes in the vocal system, leading to the assumption that COVID-19 may also affect voice production. For the very first time, the present study aims to investigate voice acoustic correlates of an infection with COVID-19 on the basis of a comprehensive acoustic parameter set. We compare 88 acoustic features extracted from recordings of the vowels /i:/, /e:/, /o:/, /u:/, and /a:/ produced by 11 symptomatic COVID-19 positive and 11 COVID-19 negative German-speaking participants. We employ the Mann-Whitney U test and calculate effect sizes to identify features with the most prominent group differences. The mean voiced segment length and the number of voiced segments per second yield the most important differences across all vowels indicating discontinuities in the pulmonic airstream during phonation in COVID-19 positive participants. Group differences in the front vowels /i:/ and /e:/ are additionally reflected in the variation of the fundamental frequency and the harmonics-to-noise ratio, group differences in back vowels /o:/ and /u:/ in statistics of the Mel-frequency cepstral coefficients and the spectral slope. Findings of this study can be considered an important proof-of-concept contribution for a potential future voice-based identification of individuals infected with COVID-19.

cs.SD↗

arXiv2020

Sensor Artificial Intelligence and its Application to Space Systems -- A White Paper

Information and communication technologies have accompanied our everyday life for years. A steadily increasing number of computers, cameras, mobile devices, etc. generate more and more data, but at the same time we realize that the data can only partially be analyzed with classical approaches. The research and development of methods based on artificial intelligence (AI) made enormous progress in the area of interpretability of data in recent years. With growing experience, both, the potential and limitations of these new technologies are increasingly better understood. Typically, AI approaches start with the data from which information and directions for action are derived. However, the circumstances under which such data are collected and how they change over time are rarely considered. A closer look at the sensors and their physical properties within AI approaches will lead to more robust and widely applicable algorithms. This holistic approach which considers entire signal chains from the origin to a data product, "Sensor AI", is a highly relevant topic with great potential. It will play a decisive role in autonomous driving as well as in areas of automated production, predictive maintenance or space research. The goal of this white paper is to establish "Sensor AI" as a dedicated research topic. We want to exchange knowledge on the current state-of-the-art on Sensor AI, to identify synergies among research groups and thus boost the collaboration in this key technology for science and industry.

cs.CY↗

arXiv2020

BERT as a Teacher: Contextual Embeddings for Sequence-Level Reward

Measuring the quality of a generated sequence against a set of references is a central problem in many learning frameworks, be it to compute a score, to assign a reward, or to perform discrimination. Despite great advances in model architectures, metrics that scale independently of the number of references are still based on n-gram estimates. We show that the underlying operations, counting words and comparing counts, can be lifted to embedding words and comparing embeddings. An in-depth analysis of BERT embeddings shows empirically that contextual embeddings can be employed to capture the required dependencies while maintaining the necessary scalability through appropriate pruning and smoothing techniques. We cast unconditional generation as a reinforcement learning problem and show that our reward function indeed provides a more effective learning signal than n-gram reward in this challenging setting.

cs.LG↗

arXiv2019

Generalization in Generation: A closer look at Exposure Bias

Exposure bias refers to the train-test discrepancy that seemingly arises when an autoregressive generative model uses only ground-truth contexts at training time but generated ones at test time. We separate the contributions of the model and the learning framework to clarify the debate on consequences and review proposed counter-measures. In this light, we argue that generalization is the underlying property to address and propose unconditional generation as its fundamental benchmark. Finally, we combine latent variable modeling with a recent formulation of exploration in reinforcement learning to obtain a rigorous handling of true and generated contexts. Results on language modeling and variational sentence auto-encoding confirm the model's generalization capability.

cs.LG↗

arXiv2019

Autoregressive Text Generation Beyond Feedback Loops

Autoregressive state transitions, where predictions are conditioned on past predictions, are the predominant choice for both deterministic and stochastic sequential models. However, autoregressive feedback exposes the evolution of the hidden state trajectory to potential biases from well-known train-test discrepancies. In this paper, we combine a latent state space model with a CRF observation model. We argue that such autoregressive observation models form an interesting middle ground that expresses local correlations on the word level but keeps the state evolution non-autoregressive. On unconditional sentence generation we show performance improvements compared to RNN and GAN baselines while avoiding some prototypical failure modes of autoregressive models.

cs.LG↗

arXiv2019

Application-Agnostic Offloading of Packet Processing

As network speed increases, servers struggle to serve all requests directed at them. This challenge is rooted in a partitioned data path where the split between the kernel space networking stack and user space applications induces overheads. To address this challenge, we propose Santa, a new architecture to optimize the data path by enabling server applications to partially offload packet processing to a generic rule processor. We exemplify Santa by showing how it can drastically accelerate kernel-based packet processing - a currently neglected domain. Our evaluation of a broad class of applications, namely DNS, Memcached, and HTTP, highlights that Santa can substantially improve the server performance by a factor of 5.5, 2.1, and 2.5, respectively.

cs.NI↗

arXiv2018

Deep State Space Models for Unconditional Word Generation

Autoregressive feedback is considered a necessity for successful unconditional text generation using stochastic sequence models. However, such feedback is known to introduce systematic biases into the training process and it obscures a principle of generation: committing to global information and forgetting local nuances. We show that a non-autoregressive deep state space model with a clear separation of global and local uncertainty can be built from only two ingredients: An independent noise source and a deterministic transition function. Recent advances on flow-based variational inference can be used to train an evidence lower-bound without resorting to annealing, auxiliary losses or similar measures. The result is a highly interpretable generative model on par with comparable auto-regressive models on the task of word generation.

cs.LG↗

arXiv2018

Grand Challenge: Real-time Destination and ETA Prediction for Maritime Traffic

In this paper, we present our approach for solving the DEBS Grand Challenge 2018. The challenge asks to provide a prediction for (i) a destination and the (ii) arrival time of ships in a streaming-fashion using Geo-spatial data in the maritime context. Novel aspects of our approach include the use of ensemble learning based on Random Forest, Gradient Boosting Decision Trees (GBDT), XGBoost Trees and Extremely Randomized Trees (ERT) in order to provide a prediction for a destination while for the arrival time, we propose the use of Feed-forward Neural Networks. In our evaluation, we were able to achieve an accuracy of 97% for the port destination classification problem and 90% (in mins) for the ETA prediction.

cs.LG↗

arXiv2018

On the Fly Orchestration of Unikernels: Tuning and Performance Evaluation of Virtual Infrastructure Managers

Network operators are facing significant challenges meeting the demand for more bandwidth, agile infrastructures, innovative services, while keeping costs low. Network Functions Virtualization (NFV) and Cloud Computing are emerging as key trends of 5G network architectures, providing flexibility, fast instantiation times, support of Commercial Off The Shelf hardware and significant cost savings. NFV leverages Cloud Computing principles to move the data-plane network functions from expensive, closed and proprietary hardware to the so-called Virtual Network Functions (VNFs). In this paper we deal with the management of virtual computing resources (Unikernels) for the execution of VNFs. This functionality is performed by the Virtual Infrastructure Manager (VIM) in the NFV MANagement and Orchestration (MANO) reference architecture. We discuss the instantiation process of virtual resources and propose a generic reference model, starting from the analysis of three open source VIMs, namely OpenStack, Nomad and OpenVIM. We improve the aforementioned VIMs introducing the support for special-purpose Unikernels and aiming at reducing the duration of the instantiation process. We evaluate some performance aspects of the VIMs, considering both stock and tuned versions. The VIM extensions and performance evaluation tools are available under a liberal open source licence.

cs.DC↗

arXiv2018

BrainSlug: Transparent Acceleration of Deep Learning Through Depth-First Parallelism

Neural network frameworks such as PyTorch and TensorFlow are the workhorses of numerous machine learning applications ranging from object recognition to machine translation. While these frameworks are versatile and straightforward to use, the training of and inference in deep neural networks is resource (energy, compute, and memory) intensive. In contrast to recent works focusing on algorithmic enhancements, we introduce BrainSlug, a framework that transparently accelerates neural network workloads by changing the default layer-by-layer processing to a depth-first approach, reducing the amount of data required by the computations and thus improving the performance of the available hardware caches. BrainSlug achieves performance improvements of up to 41.1% on CPUs and 35.7% on GPUs. These optimizations come at zero cost to the user as they do not require hardware changes and only need tiny adjustments to the software.

cs.DC↗