The term Federated Learning was coined as recently as 2016 to describe a machine learning setting where multiple entities collaborate in solving a machine learning problem, under the coordination of a central server or service provider. Each client’s raw data is stored locally and not exchanged or transferred; instead, focused updates intended for immediate aggregation are used to achieve the learning objective. Since then, the topic has gathered much interest across many different disciplines and the realization that solving many of these interdisciplinary problems likely requires not just machine learning but techniques from distributed optimization, cryptography, security, differential privacy, fairness, compressed sensing, systems, information theory, statistics, and more. This monograph has contributions from leading experts across the disciplines, who describe the latest state-of-the art from their perspective. These contributions have been carefully curated into a comprehensive treatment that enables the reader to understand the work that has been done and get pointers to where effort is required to solve many of the problems before Federated Learning can become a reality in practical systems. Researchers working in the area of distributed systems will find this monograph an enlightening read that may inspire them to work on the many challenging issues that are outlined. This monograph will get the reader up to speed quickly and easily on what is likely to become an increasingly important topic: Federated Learning.

/pdf/advances-and-open-problems-in-federated-learning-3t0jgb90ia.pdf

Advances and open problems in federated learning

Federated Learning is a distributed learning paradigm with two key challenges that differentiate it from traditional distributed optimization: (1) significant variability in terms of the systems characteristics on each device in the network (systems heterogeneity), and (2) non-identically distributed data across the network (statistical heterogeneity). In this work, we introduce a framework, FedProx, to tackle heterogeneity in federated networks. FedProx can be viewed as a generalization and re-parametrization of FedAvg, the current state-of-the-art method for federated learning. While this re-parameterization makes only minor modifications to the method itself, these modifications have important ramifications both in theory and in practice. Theoretically, we provide convergence guarantees for our framework when learning over data from non-identical distributions (statistical heterogeneity), and while adhering to device-level systems constraints by allowing each participating device to perform a variable amount of work (systems heterogeneity). Practically, we demonstrate that FedProx allows for more robust convergence than FedAvg across a suite of realistic federated datasets. In particular, in highly heterogeneous settings, FedProx demonstrates significantly more stable and accurate convergence behavior relative to FedAvg---improving absolute test accuracy by 22% on average.

/pdf/federated-optimization-in-heterogeneous-networks-3v7i26o2nb.pdf

Federated Optimization in Heterogeneous Networks

Federated learning involves training statistical models over remote devices or siloed data centers, such as mobile phones or hospitals, while keeping data localized. Training in heterogeneous and potentially massive networks introduces novel challenges that require a fundamental departure from standard approaches for large-scale machine learning, distributed optimization, and privacy-preserving data analysis. In this article, we discuss the unique characteristics and challenges of federated learning, provide a broad overview of current approaches, and outline several directions of future work that are relevant to a wide range of research communities.

Federated Learning: Challenges, Methods, and Future Directions

Emerging technologies and applications including Internet of Things, social networking, and crowd-sourcing generate large amounts of data at the network edge. Machine learning models are often built from the collected data, to enable the detection, classification, and prediction of future events. Due to bandwidth, storage, and privacy concerns, it is often impractical to send all the data to a centralized location. In this paper, we consider the problem of learning model parameters from data distributed across multiple edge nodes, without sending raw data to a centralized place. Our focus is on a generic class of machine learning models that are trained using gradient-descent-based approaches. We analyze the convergence bound of distributed gradient descent from a theoretical point of view, based on which we propose a control algorithm that determines the best tradeoff between local update and global parameter aggregation to minimize the loss function under a given resource budget. The performance of the proposed algorithm is evaluated via extensive experiments with real datasets, both on a networked prototype system and in a larger-scale simulated environment. The experimentation results show that our proposed approach performs near to the optimum with various machine learning models and different data distributions.

pdf/adaptive-federated-learning-in-resource-constrained-edge-1lk7qqg5di.pdf

Adaptive Federated Learning in Resource Constrained Edge Computing Systems

Federated learning enables a large amount of edge computing devices to jointly learn a model without data sharing. As a leading algorithm in this setting, Federated Averaging (\texttt{FedAvg}) runs Stochastic Gradient Descent (SGD) in parallel on a small subset of the total devices and averages the sequences only once in a while. Despite its simplicity, it lacks theoretical guarantees under realistic settings. In this paper, we analyze the convergence of \texttt{FedAvg} on non-iid data and establish a convergence rate of $\mathcal{O}(\frac{1}{T})$ for strongly convex and smooth problems, where $T$ is the number of SGDs. Importantly, our bound demonstrates a trade-off between communication-efficiency and convergence rate. As user devices may be disconnected from the server, we relax the assumption of full device participation to partial device participation and study different averaging schemes; low device participation rate can be achieved without severely slowing down the learning. Our results indicate that heterogeneity of data slows down the convergence, which matches empirical observations. Furthermore, we provide a necessary condition for \texttt{FedAvg} on non-iid data: the learning rate $\eta$ must decay, even if full-gradient is used; otherwise, the solution will be $\Omega (\eta)$ away from the optimal.

On the Convergence of FedAvg on Non-IID Data

In distributed training of deep neural networks, parallel minibatch SGD is widely used to speed up the training process by using multiple workers. It uses multiple workers to sample local stochastic gradients in parallel, aggregates all gradients in a single server to obtain the average, and updates each worker’s local model using a SGD update with the averaged gradient. Ideally, parallel mini-batch SGD can achieve a linear speed-up of the training time (with respect to the number of workers) compared with SGD over a single worker. However, such linear scalability in practice is significantly limited by the growing demand for gradient communication as more workers are involved. Model averaging, which periodically averages individual models trained over parallel workers, is another common practice used for distributed training of deep neural networks since (Zinkevich et al. 2010) (McDonald, Hall, and Mann 2010). Compared with parallel mini-batch SGD, the communication overhead of model averaging is significantly reduced. Impressively, tremendous experimental works have verified that model averaging can still achieve a good speed-up of the training time as long as the averaging interval is carefully controlled. However, it remains a mystery in theory why such a simple heuristic works so well. This paper provides a thorough and rigorous theoretical study on why model averaging can work as well as parallel mini-batch SGD with significantly less communication overhead.

/pdf/parallel-restarted-sgd-with-faster-convergence-and-less-43ryvvvv4y.pdf

Parallel Restarted SGD with Faster Convergence and Less Communication: Demystifying Why Model Averaging Works for Deep Learning

Recent developments on large-scale distributed machine learning applications, e.g., deep neural networks, benefit enormously from the advances in distributed non-convex optimization techniques, e.g., distributed Stochastic Gradient Descent (SGD). A series of recent works study the linear speedup property of distributed SGD variants with reduced communication. The linear speedup property enable us to scale out the computing capability by adding more computing nodes into our system. The reduced communication complexity is desirable since communication overhead is often the performance bottleneck in distributed systems. Recently, momentum methods are more and more widely adopted in training machine learning models and can often converge faster and generalize better. For example, many practitioners use distributed SGD with momentum to train deep neural networks with big data. However, it remains unclear whether any distributed momentum SGD possesses the same linear speedup property as distributed SGD and has reduced communication complexity. This paper fills the gap by considering a distributed communication efficient momentum SGD method and proving its linear speedup property.

/pdf/on-the-linear-speedup-analysis-of-communication-efficient-2woccspfsx.pdf

On the Linear Speedup Analysis of Communication Efficient Momentum SGD for Distributed Non-Convex Optimization.

This paper considers online convex optimization (OCO) with stochastic constraints, which generalizes Zinkevich's OCO over a known simple fixed set by introducing multiple stochastic functional constraints that are i.i.d. generated at each round and are disclosed to the decision maker only after the decision is made. This formulation arises naturally when decisions are restricted by stochastic environments or deterministic environments with noisy observations. It also includes many important problems as special case, such as OCO with long term constraints, stochastic constrained convex optimization, and deterministic constrained convex optimization. To solve this problem, this paper proposes a new algorithm that achieves $O(\sqrt{T})$ expected regret and constraint violations and $O(\sqrt{T}\log(T))$ high probability regret and constraint violations. Experiments on a real-world data center scheduling problem further verify the performance of the new algorithm.

/pdf/online-convex-optimization-with-stochastic-constraints-2jyl1ja1pg.pdf

Online Convex Optimization with Stochastic Constraints

In distributed training of deep neural networks, parallel mini-batch SGD is widely used to speed up the training process by using multiple workers. It uses multiple workers to sample local stochastic gradient in parallel, aggregates all gradients in a single server to obtain the average, and update each worker's local model using a SGD update with the averaged gradient. Ideally, parallel mini-batch SGD can achieve a linear speed-up of the training time (with respect to the number of workers) compared with SGD over a single worker. However, such linear scalability in practice is significantly limited by the growing demand for gradient communication as more workers are involved. Model averaging, which periodically averages individual models trained over parallel workers, is another common practice used for distributed training of deep neural networks since (Zinkevich et al. 2010) (McDonald, Hall, and Mann 2010). Compared with parallel mini-batch SGD, the communication overhead of model averaging is significantly reduced. Impressively, tremendous experimental works have verified that model averaging can still achieve a good speed-up of the training time as long as the averaging interval is carefully controlled. However, it remains a mystery in theory why such a simple heuristic works so well. This paper provides a thorough and rigorous theoretical study on why model averaging can work as well as parallel mini-batch SGD with significantly less communication overhead.

This paper considers online convex optimization over a comp licated constraint set, which typically consists of multiple functional constraints and a set constraint. The c onventional Zinkevich’s projection based online algorith m (Zinkevich 2013) can be difficult to implement due to the pote ntially high computation complexity of the projection operation. In this paper, we relax the functional constrain s by allowing them to be violated at each round but still requiring them to be satisfied in the long term. This typ e of relaxed online convex optimization (with long term constraints) was first considered in Mehrdad et. al. (20 12). That prior work proposes an algorithm to achieve O( √ T ) regret andO(T ) constraint violations for general problems and another alg orithm to achieve anO(T ) bound for both regret and constraint violations when the con straint set can be described by a finite number of linear constraints. The current paper proposes a new algori thm that is simple and yields improved performance in comparison to the prior work. The new algorithm achieves an O( √ T ) bound for both regret and constraint violations.

/pdf/a-low-complexity-algorithm-with-o-t-regret-and-o-1-4kfs0rs9ew.pdf

A Low Complexity Algorithm with O(√T) Regret and O(1) Constraint Violations for Online Convex Optimization with Long Term Constraints

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Papers

Parallel Restarted SGD with Faster Convergence and Less Communication: Demystifying Why Model Averaging Works for Deep Learning

On the Linear Speedup Analysis of Communication Efficient Momentum SGD for Distributed Non-Convex Optimization.

Online Convex Optimization with Stochastic Constraints

Parallel Restarted SGD with Faster Convergence and Less Communication: Demystifying Why Model Averaging Works for Deep Learning

A Low Complexity Algorithm with O(√T) Regret and O(1) Constraint Violations for Online Convex Optimization with Long Term Constraints