arXiv subjects

Yogesh Simmhan

Publications and source records attributed to Yogesh Simmhan.

At least 55 records · Page 3Linked to original sources

arXiv2025

AeroDaaS: Towards an Application Programming Framework for Drones-as-a-Service

The increasing adoption of UAVs with advanced sensors and GPU-accelerated edge computing has enabled real-time AI-driven applications in fields such as precision agriculture, wildfire monitoring, and environmental conservation. However, integrating deep learning on UAVs remains challenging due to platform heterogeneity, real-time constraints, and the need for seamless cloud-edge coordination. To address these challenges, we introduce AeroDaaS, a service-oriented framework that abstracts UAV-based sensing complexities and provides a Drone-as-a-Service (DaaS) model for intelligent decision-making. AeroDaaS offers modular service primitives for on-demand UAV sensing, navigation, and analytics as composable microservices, ensuring cross-platform compatibility and scalability across heterogeneous UAV and edge-cloud infrastructures. We implement and evaluate a preliminary version of AeroDaaS for two real-world DaaS applications. We require <=40 lines of code for the applications and see minimal platform overhead of <=20 ms per frame and <=0.5 GB memory usage on Orin Nano. These early results are promising for AeroDaaS as an efficient, flexible and scalable UAV programming framework for autonomous aerial analytics.

cs.DC↗

arXiv2025

Towards Perception-based Collision Avoidance for UAVs when Guiding the Visually Impaired

Autonomous navigation by drones using onboard sensors combined with machine learning and computer vision algorithms is impacting a number of domains, including agriculture, logistics, and disaster management. In this paper, we examine the use of drones for assisting visually impaired people (VIPs) in navigating through outdoor urban environments. Specifically, we present a perception-based path planning system for local planning around the neighborhood of the VIP, integrated with a global planner based on GPS and maps for coarse planning. We represent the problem using a geometric formulation and propose a multi DNN based framework for obstacle avoidance of the UAV as well as the VIP. Our evaluations conducted on a drone human system in a university campus environment verifies the feasibility of our algorithms in three scenarios; when the VIP walks on a footpath, near parked vehicles, and in a crowded street.

cs.RO↗

arXiv2025

Optimizing Federated Learning using Remote Embeddings for Graph Neural Networks

Graph Neural Networks (GNNs) have experienced rapid advancements in recent years due to their ability to learn meaningful representations from graph data structures. Federated Learning (FL) has emerged as a viable machine learning approach for training a shared model on decentralized data, addressing privacy concerns while leveraging parallelism. Existing methods that address the unique requirements of federated GNN training using remote embeddings to enhance convergence accuracy are limited by their diminished performance due to large communication costs with a shared embedding server. In this paper, we present OpES, an optimized federated GNN training framework that uses remote neighbourhood pruning, and overlaps pushing of embeddings to the server with local training to reduce the network costs and training time. The modest drop in per-round accuracy due to pre-emptive push of embeddings is out-stripped by the reduction in per-round training time for large and dense graphs like Reddit and Products, converging up to $\approx2\times$ faster than the state-of-the-art technique using an embedding server and giving up to $20\%$ better accuracy than vanilla federated GNN learning.

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arXiv2025

Understanding the Performance and Power of LLM Inferencing on Edge Accelerators

Large Language Models (LLMs) have demonstrated exceptional benefits to a wide range of domains, for tasks as diverse as code generation and robot navigation. While LLMs are usually served from cloud data centers, mission-critical and privacy-sensitive applications may require local hosting of open LLM models. Given the large GPU memory footprint needed for LLMs, edge accelerators such as Nvidia Jetson Orin AGX with 64GB of shared GPU-CPU RAM are a compelling choice. However, the feasibility and performance of LLM inference on edge accelerators is under-explored. This study presents a detailed evaluation of LLM inference on the NVIDIA Jetson Orin AGX, on four SOTA models ranging from 2.7B to 32.8B parameters, such as Meta Llama3.1, Microsoft-Phi2, Deepseek-R1-Qwen. We investigate the impact of varying batch sizes, sequence lengths, and quantization levels on latency, throughput, and perplexity, and also explore various custom power modes on the Orin AGX to perform power and energy consumption analysis. Our findings offer interesting insights on the trade-offs between efficiency, inference speed and resource use, e.g., increasing the sequence length causes a decrease in token throughput and quantization causes smaller LLMs to be slower. These results can help optimize LLM serving on edge accelerators for practical applications.

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arXiv2025

Federated Learning within Global Energy Budget over Heterogeneous Edge Accelerators

Federated Learning (FL) enables collaborative model training across distributed clients while preserving data privacy. However, optimizing both energy efficiency and model accuracy remains a challenge, given device and data heterogeneity. Further, sustainable AI through a global energy budget for FL has not been explored. We propose a novel optimization problem for client selection in FL that maximizes the model accuracy within an overall energy limit and reduces training time. We solve this with a unique bi-level ILP formulation that leverages approximate Shapley values and energy-time prediction models to efficiently solve this. Our FedJoule framework achieves superior training accuracies compared to SOTA and simple baselines for diverse energy budgets, non-IID distributions, and realistic experiment configurations, performing 15% and 48% better on accuracy and time, respectively. The results highlight the effectiveness of our method in achieving a viable trade-off between energy usage and performance in FL environments.

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arXiv2025

Ripple: Scalable Incremental GNN Inferencing on Large Streaming Graphs

Most real-world graphs are dynamic in nature, with continuous and rapid updates to the graph topology, and vertex and edge properties. Such frequent updates pose significant challenges for inferencing over Graph Neural Networks (GNNs). Current approaches that perform vertex-wise and layer-wise inferencing are impractical for dynamic graphs as they cause redundant computations, expand to large neighborhoods, and incur high communication costs for distributed setups, resulting in slow update propagation that often exceeds real-time latency requirements. This motivates the need for streaming GNN inference frameworks that are efficient and accurate over large, dynamic graphs. We propose Ripple, a framework that performs fast incremental updates of embeddings arising due to updates to the graph topology or vertex features. Ripple provides a generalized incremental programming model, leveraging the properties of the underlying aggregation functions employed by GNNs to efficiently propagate updates to the affected neighborhood and compute the exact new embeddings. Besides a single-machine design, we also extend this execution model to distributed inferencing, to support large graphs that do not fit in a single machine's memory. Ripple on a single machine achieves up to $\approx28000$ updates/sec for sparse graphs like Arxiv and $\approx1200$ updates/sec for larger and denser graphs like Products, with latencies of $0.1$ms--$1$s that are required for near-realtime applications. The distributed version of Ripple offers up to $\approx30\times$ better throughput over the baselines, due to $70\times$ lower communication costs during updates.

cs.DC↗

arXiv2025

Adaptive Heuristics for Scheduling DNN Inferencing on Edge and Cloud for Personalized UAV Fleets

Drone fleets with onboard cameras coupled with computer vision and DNN inferencing models can support diverse applications. One such novel domain is for one or more buddy drones to assist Visually Impaired People (VIPs) lead an active lifestyle. Video inferencing tasks from such drones can help both navigate the drone and provide situation awareness to the VIP, and hence have strict execution deadlines. We propose a deadline-driven heuristic, DEMS-A, to schedule diverse DNN tasks generated continuously to perform inferencing over video segments generated by multiple drones linked to an edge, with the option to execute on the cloud. We use strategies like task dropping, work stealing and migration, and dynamic adaptation to cloud variability, to guarantee a Quality of Service (QoS), i.e. maximize the utility and the number of tasks completed. We also introduce an additional Quality of Experience (QoE) metric useful to the assistive drone domain, which values the frequency of success for task types to ensure the responsiveness and reliability of the VIP application. We extend our DEMS solution to GEMS to solve this. We evaluate these strategies, using (i) an emulated setup of a fleet of over 80 drones supporting over 25 VIPs, with real DNN models executing on pre-recorded drone video streams, using Jetson Nano edges and AWS Lambda cloud functions, and (ii) a real-world setup of a Tello drone and a Jetson Orin Nano edge generating drone commands to follow a VIP in real-time. Our strategies present a task completion rate of up to 88%, up to 2.7x higher QoS utility compared to the baselines, a further 16% higher QoS utility while adapting to network variability, and up to 75% higher QoE utility. Our practical validation exhibits task completion of up to 87% for GEMS and 33% higher total utility of GEMS compared to edge-only.

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arXiv2025

Ocularone-Bench: Benchmarking DNN Models on GPUs to Assist the Visually Impaired

VIP navigation requires multiple DNN models for identification, posture analysis, and depth estimation to ensure safe mobility. Using a hazard vest as a unique identifier enhances visibility while selecting the right DNN model and computing device balances accuracy and real-time performance. We present Ocularone-Bench, which is a benchmark suite designed to address the lack of curated datasets for uniquely identifying individuals in crowded environments and the need for benchmarking DNN inference times on resource-constrained edge devices. The suite evaluates the accuracy-latency trade-offs of YOLO models retrained on this dataset and benchmarks inference times of situation awareness models across edge accelerators and high-end GPU workstations. Our study on NVIDIA Jetson devices and RTX 4090 workstation demonstrates significant improvements in detection accuracy, achieving up to 99.4% precision, while also providing insights into real-time feasibility for mobile deployment. Beyond VIP navigation, Ocularone-Bench is applicable to senior citizens, children and worker safety monitoring, and other vision-based applications.

cs.DC↗

arXiv2025

A Blockchain-Enabled Framework for Storage and Retrieval of Social Data

The increasing availability of data from diverse sources, including trusted entities such as governments, as well as untrusted crowd-sourced contributors, demands a secure and trustworthy environment for storage and retrieval. Blockchain, as a distributed and immutable ledger, offers a promising solution to address these challenges. This short paper studies the feasibility of a blockchain-based framework for secure data storage and retrieval across trusted and untrusted sources, focusing on provenance, storage mechanisms, and smart contract security. Through initial experiments using Hyper Ledger Fabric (HLF), we evaluate the storage efficiency, scalability, and feasibility of the proposed approach. This study serves as a motivation for future research to develop a comprehensive blockchain-based storage and retrieval framework.

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arXiv2025

Evaluating Multi-Instance DNN Inferencing on Multiple Accelerators of an Edge Device

Edge devices like Nvidia Jetson platforms now offer several on-board accelerators -- including GPU CUDA cores, Tensor Cores, and Deep Learning Accelerators (DLA) -- which can be concurrently exploited to boost deep neural network (DNN) inferencing. In this paper, we extend previous work by evaluating the performance impacts of running multiple instances of the ResNet50 model concurrently across these heterogeneous components. We detail the effects of varying batch sizes and hardware combinations on throughput and latency. Our expanded analysis highlights not only the benefits of combining CUDA and Tensor Cores, but also the performance degradation from resource contention when integrating DLAs. These findings, together with insights on precision constraints and workload allocation challenges, motivate further exploration of intelligent scheduling mechanisms to optimize resource utilization on edge platforms.

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arXiv2025

AIOpsLab: A Holistic Framework to Evaluate AI Agents for Enabling Autonomous Clouds

AI for IT Operations (AIOps) aims to automate complex operational tasks, such as fault localization and root cause analysis, to reduce human workload and minimize customer impact. While traditional DevOps tools and AIOps algorithms often focus on addressing isolated operational tasks, recent advances in Large Language Models (LLMs) and AI agents are revolutionizing AIOps by enabling end-to-end and multitask automation. This paper envisions a future where AI agents autonomously manage operational tasks throughout the entire incident lifecycle, leading to self-healing cloud systems, a paradigm we term AgentOps. Realizing this vision requires a comprehensive framework to guide the design, development, and evaluation of these agents. To this end, we present AIOPSLAB, a framework that not only deploys microservice cloud environments, injects faults, generates workloads, and exports telemetry data but also orchestrates these components and provides interfaces for interacting with and evaluating agents. We discuss the key requirements for such a holistic framework and demonstrate how AIOPSLAB can facilitate the evaluation of next-generation AIOps agents. Through evaluations of state-of-the-art LLM agents within the benchmark created by AIOPSLAB, we provide insights into their capabilities and limitations in handling complex operational tasks in cloud environments.

cs.AI↗

arXiv2024

Building AI Agents for Autonomous Clouds: Challenges and Design Principles

The rapid growth in the use of Large Language Models (LLMs) and AI Agents as part of software development and deployment is revolutionizing the information technology landscape. While code generation receives significant attention, a higher-impact application lies in using AI agents for operational resilience of cloud services, which currently require significant human effort and domain knowledge. There is a growing interest in AI for IT Operations (AIOps) which aims to automate complex operational tasks, like fault localization and root cause analysis, thereby reducing human intervention and customer impact. However, achieving the vision of autonomous and self-healing clouds through AIOps is hampered by the lack of standardized frameworks for building, evaluating, and improving AIOps agents. This vision paper lays the groundwork for such a framework by first framing the requirements and then discussing design decisions that satisfy them. We also propose AIOpsLab, a prototype implementation leveraging agent-cloud-interface that orchestrates an application, injects real-time faults using chaos engineering, and interfaces with an agent to localize and resolve the faults. We report promising results and lay the groundwork to build a modular and robust framework for building, evaluating, and improving agents for autonomous clouds.

cs.SE↗

arXiv2024

Performance Characterization of Containerized DNN Training and Inference on Edge Accelerators

Edge devices have typically been used for DNN inferencing. The increase in the compute power of accelerated edges is leading to their use in DNN training also. As privacy becomes a concern on multi-tenant edge devices, Docker containers provide a lightweight virtualization mechanism to sandbox models. But their overheads for edge devices are not yet explored. In this work, we study the impact of containerized DNN inference and training workloads on an NVIDIA AGX Orin edge device and contrast it against bare metal execution on running time, CPU, GPU and memory utilization, and energy consumption. Our analysis shows that there are negligible containerization overheads for individually running DNN training and inference workloads.

cs.DC↗

arXiv2024

PowerTrain: Fast, Generalizable Time and Power Prediction Models to Optimize DNN Training on Accelerated Edges

Accelerated edge devices, like Nvidia's Jetson with 1000+ CUDA cores, are increasingly used for DNN training and federated learning, rather than just for inferencing workloads. A unique feature of these compact devices is their fine-grained control over CPU, GPU, memory frequencies, and active CPU cores, which can limit their power envelope in a constrained setting while throttling the compute performance. Given this vast 10k+ parameter space, selecting a power mode for dynamically arriving training workloads to exploit power-performance trade-offs requires costly profiling for each new workload, or is done \textit{ad hoc}. We propose \textit{PowerTrain}, a transfer-learning approach to accurately predict the power and time consumed when training a given DNN workload (model + dataset) using any specified power mode (CPU/GPU/memory frequencies, core-count). It requires a one-time offline profiling of $1000$s of power modes for a reference DNN workload on a single Jetson device (Orin AGX) to build Neural Network (NN) based prediction models for time and power. These NN models are subsequently transferred (retrained) for a new DNN workload, or even a different Jetson device, with minimal additional profiling of just $50$ power modes to make accurate time and power predictions. These are then used to rapidly construct the Pareto front and select the optimal power mode for the new workload. PowerTrain's predictions are robust to new workloads, exhibiting a low MAPE of $<6\%$ for power and $<15\%$ for time on six new training workloads for up to $4400$ power modes, when transferred from a ResNet reference workload on Orin AGX. It is also resilient when transferred to two entirely new Jetson devices with prediction errors of $<14.5\%$ and $<11\%$. These outperform baseline predictions by more than $10\%$ and baseline optimizations by up to $45\%$ on time and $88\%$ on power.

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arXiv2023

Parallelizing Quantum-Classical Workloads: Profiling the Impact of Splitting Techniques

Quantum computers are the next evolution of computing hardware. Quantum devices are being exposed through the same familiar cloud platforms used for classical computers, and enabling seamless execution of hybrid applications that combine quantum and classical components. Quantum devices vary in features, e.g., number of qubits, quantum volume, CLOPS, noise profile, queuing delays and resource cost. So, it may be useful to split hybrid workloads with either large quantum circuits or large number of quantum circuits, into smaller units. In this paper, we profile two workload splitting techniques on IBM's Quantum Cloud: (1) Circuit parallelization, to split one large circuit into multiple smaller ones, and (2) Data parallelization to split a large number of circuits run on one hardware to smaller batches of circuits run on different hardware. These can improve the utilization of heterogenous quantum hardware, but involve trade-offs. We evaluate these techniques on two key algorithmic classes: Variational Quantum Eigensolver (VQE) and Quantum Support Vector Machine (QSVM), and measure the impact on circuit execution times, pre- and post-processing overhead, and quality of the result relative to a baseline without parallelization. Results are obtained on real hardware and complemented by simulations. We see that (1) VQE with circuit cutting is ~39\% better in ground state estimation than the uncut version, and (2) QSVM that combines data parallelization with reduced feature set yields upto 3x improvement in quantum workload execution time and reduces quantum resource use by 3x, while providing comparable accuracy. Error mitigation can improve the accuracy by ~7\% and resource foot-print by ~4\% compared to the best case among the considered scenarios.

quant-ph↗

arXiv2022

CORNET 2.0: A Co-Simulation Middleware for Robot Networks

We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is necessary to co-design the multi-robots' autonomy logic and the communication protocols. The proposed framework extends existing tools to simulate the robot's autonomy and network-related aspects. We have used Gazebo with ROS/ROS2 to develop the autonomy logic for robots and mininet-WiFi as the network simulator to capture the cyber-physical systems properties of the multi-robot system. This framework addresses the need to seamlessly integrate the two simulation environments by synchronizing mobility and time, allowing for easy migration of the algorithms to real platforms. The framework supports container-based virtualization and extends a generic robotic framework by decoupling the data plane and control plane.

cs.RO↗

arXiv2022

Resilient Execution of Data-triggered Applications on Edge, Fog and Cloud Resources

Internet of Things (IoT) is leading to the pervasive availability of streaming data about the physical world, coupled with edge computing infrastructure deployed as part of smart cities and 5G rollout. These constrained, less reliable but cheap resources are complemented by fog resources that offer federated management and accelerated computing, and pay-as-you-go cloud resources. There is a lack of intuitive means to deploy application pipelines to consume such diverse streams, and to execute them reliably on edge and fog resources. We propose an innovative application model to declaratively specify queries to match streams of micro-batch data from stream sources and trigger the distributed execution of data pipelines. We also design a resilient scheduling strategy using advanced reservation on reliable fogs to guarantee dataflow completion within a deadline while minimizing the execution cost. Our detailed experiments on over 100 virtual IoT resources and for $\approx 10k$ task executions, with comparison against baseline scheduling strategies, illustrates the cost-effectiveness, resilience and scalability of our framework.

cs.DC↗

arXiv2021

DiPETrans: A Framework for Distributed Parallel Execution of Transactions of Blocks in Blockchain

Contemporary blockchain such as Bitcoin and Ethereum execute transactions serially by miners and validators and determine the Proof-of-Work (PoW). Such serial execution is unable to exploit modern multi-core resources efficiently, hence limiting the system throughput and increasing the transaction acceptance latency. The objective of this work is to increase the transaction throughput by introducing parallel transaction execution using a static analysis technique. We propose a framework DiPETrans for the distributed execution of the transactions in a block. Here, peers in the blockchain network form a community to execute the transactions and find the PoW parallelly, using a leader-follower approach. During mining, the leader statically analyzes the transactions, creates different groups (shards) of independent transactions, and distributes them to followers to execute them in parallel. After the transaction executes, the community's compute power is utilized to solve the PoW concurrently. When a block is successfully created, the leader broadcasts the proposed block to other peers in the network for validation. On receiving a block, validators re-execute the block transactions and accept the block if they reach the same state as shared by the miner. Validation can also be done as a community, in parallel, following the same leader-follower approach as mining. We report experiments using over 5 Million real transactions from the Ethereum blockchain and execute them using our DiPETrans framework to empirically validate the benefits of our techniques over traditional sequential execution. We achieve a maximum speedup of 2.2x for the miner and 2.0x for the validator, with 100 to 500 transactions per block. Further, we achieve a peak of 5x end-to-end block creation speedup using a parallel miner over a serial miner when using 6 machines in the community.

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