Optimizing Split Points for Error-Resilient SplitFed Learning

Chamani Shiranthika, Parvaneh Saeedi, Ivan V. Bajić·May 29, 2024

Summary

This research investigates the resilience of Split Federated Learning (SplitFed) in model split points for human embryo image segmentation using a Split U-Net architecture. The study compares the impact of splitting the model at different depths (shallow or deep) under varying packet loss conditions, with a focus on the Blastocyst dataset. Results show that deeper split points provide better error resilience. A comparison with a centrally trained U-Net (BLAST-NET) reveals that SplitFed U-Net, employing strategies like naive averaging, FedAvg, and fed-NCL V2/V4, maintains or slightly improves segmentation accuracy (MJI: 82.78-82.99%) even with simulated packet loss. The studies also highlight the potential of federated learning techniques in addressing challenges like noisy communication and data privacy in distributed learning scenarios for applications like medical image analysis and mobile cloud computing.

Key findings

1

Paper digest

What problem does the paper attempt to solve? Is this a new problem?

The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" aims to investigate the resilience of SplitFed to packet loss at model split points in decentralized learning scenarios . This study explores various parameter aggregation strategies of SplitFed by examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance . The problem addressed in the paper is the optimization of split points in SplitFed to enhance error resilience in the presence of packet loss, which is a novel focus area within the context of decentralized learning .


What scientific hypothesis does this paper seek to validate?

This paper aims to validate the scientific hypothesis related to the resilience of SplitFed to packet loss at model split points. It investigates the impact of splitting the model at different points, specifically shallow split versus deep split, on the final global model performance in the context of decentralized learning . The study explores various parameter aggregation strategies in SplitFed and examines the resilience of the system to packet loss, a common transmission error that has not been extensively studied in the domain of decentralized learning .


What new ideas, methods, or models does the paper propose? What are the characteristics and advantages compared to previous methods?

The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" proposes several innovative ideas, methods, and models in the field of decentralized learning, specifically focusing on Split Federated Learning (SplitFed) .

  1. Investigation of SplitFed Resilience to Packet Loss: The study explores the resilience of SplitFed to packet loss at model split points. It analyzes various parameter aggregation strategies of SplitFed by examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance .

  2. Parameter Aggregation Methods: The paper introduces different parameter aggregation methods (Paramagg) under varying conditions such as packet loss probabilities (PL) and the number of clients experiencing packet loss (Nc). These methods include naive averaging, federated averaging (FedAvg), auto-FedAvg, fed-NCL V2, and fed-NCL V4 .

  3. Experimental Setup and Model Architecture: The study utilizes a Split U-Net model for human embryo component segmentation. The model consists of three split models: client-side front-end (CS(FE)), server-side (S), and client-side back-end (CS(BE)). Two split points are considered: shallow split and deep split. The experiments are conducted on the Blastocyst dataset, which includes human embryo images with ground-truth segmentation masks for five components .

  4. Performance Evaluation: The paper evaluates the performance of the SplitFed U-Net model under different parameter aggregation methods. It compares the model's performance with other existing models like BLAST-NET. The results show that the SplitFed U-Net model outperforms BLAST-NET and achieves favorable performance metrics .

  5. Simulation of Packet Loss: The study simulates packet loss scenarios to analyze the model's performance under different levels of packet loss probabilities. This analysis provides insights into the robustness of the SplitFed model to packet loss, a common transmission error in decentralized learning environments . The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" introduces Split Federated Learning (SplitFed) as a novel approach that combines the privacy preservation of Federated Learning (FL) with the model balancing of Split Learning (SL) to optimize decentralized learning . Compared to previous methods, SplitFed offers several characteristics and advantages:

  6. Resilience to Packet Loss: SplitFed is designed to be resilient to packet loss at model split points, a common transmission error in decentralized learning environments. The study investigates the impact of splitting the model at different points, such as shallow split or deep split, on the final global model performance under varying packet loss probabilities and the number of clients experiencing packet loss .

  7. Parameter Aggregation Strategies: The paper explores various parameter aggregation methods (Paramagg) in SplitFed, including naive averaging, federated averaging (FedAvg), auto-FedAvg, fed-NCL V2, and fed-NCL V4. These methods play a crucial role in optimizing the model's performance and robustness in the face of packet loss scenarios .

  8. Experimental Results: In experimental evaluations, the SplitFed U-Net model demonstrates favorable performance compared to existing models like BLAST-NET. The SplitFed U-Net model achieves a mean Jaccard index (MJI) ranging from 82.57% to 83.02% under different parameter aggregation methods, showcasing its superiority in human embryo image segmentation tasks. For instance, the SplitFed U-Net model outperforms BLAST-NET, which achieved an MJI of 79.88% .

  9. Statistical Analysis: The paper provides the first statistical analysis of the effect of model split points in SplitFed on loss resilience. By examining the impact of split points on loss resilience and analyzing parameter aggregation strategies, the study contributes valuable insights into optimizing decentralized learning models for improved performance and robustness in the presence of packet loss .


Do any related researches exist? Who are the noteworthy researchers on this topic in this field?What is the key to the solution mentioned in the paper?

Several related research studies exist in the field of decentralized learning, particularly focusing on topics like Federated Learning (FL), Split Learning (SL), and Split Federated Learning (SplitFed) . Noteworthy researchers who have contributed to this area include Ivan V. Bajić, Lior Bragilevsky, Ashiv Dhondea, Zahra Hafezi Kafshgari, Chamani Shiranthika, Parvaneh Saeedi, and many others . These researchers have explored various aspects of decentralized learning, such as collaborative intelligence, loss-resilient object detection, tensor completion methods, and smart split-federated learning for tasks like medical image segmentation .

The key solution mentioned in the paper "Optimizing Split Points for Error-Resilient SplitFed Learning" involves investigating the resilience of SplitFed to packet loss at model split points . The study explores different parameter aggregation strategies of SplitFed by analyzing the impact of splitting the model at different points (shallow split or deep split) on the final global model performance. The experiments conducted on a human embryo image segmentation task reveal a statistically significant advantage of using a deeper split point for improved loss resilience in SplitFed .


How were the experiments in the paper designed?

The experiments in the paper were designed as follows:

  • The study investigated the resilience of SplitFed to packet loss at model split points by exploring various parameter aggregation strategies and examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance .
  • A Split U-Net model was utilized for human embryo component segmentation, with three split models: client-side front-end (CS(FE)), server-side (S), and client-side back-end (CS(BE)). Two split points were considered: the shallow split and the deep split. The experiments were conducted on the Blastocyst dataset, which contains human embryo images with ground-truth segmentation masks for five components. The data were non-uniformly distributed among five clients, and each client allocated 85% of its data for training and 15% for validation. Various data augmentation techniques were applied during training, and the system was trained for 12 local and 15 global epochs .
  • The experiments involved simulating packet loss, where each lost packet represented a zeroed-out row of feature and gradient maps. Different packet loss probabilities (PL) and the number of clients experiencing packet loss (Nc) were considered. Various parameter aggregation methods were tested, including naive averaging, federated averaging (FedAvg), auto-FedAvg, fed-NCL V2, and fed-NCL V4. The experiments were conducted both with and without packet loss to evaluate the model's performance .

What is the dataset used for quantitative evaluation? Is the code open source?

The dataset used for quantitative evaluation in the study on SplitFed learning for human embryo component segmentation is the Blastocyst dataset, which consists of 781 human embryo images with ground-truth segmentation masks for five components: background, zona pellucida (ZP), trophectoderm (TE), inner cell mass (ICM), and blastocoel (BL) . The code for this study is not explicitly mentioned to be open source in the provided context.


Do the experiments and results in the paper provide good support for the scientific hypotheses that need to be verified? Please analyze.

The experiments and results presented in the paper provide strong support for the scientific hypotheses that needed to be verified. The study focused on investigating the resilience of SplitFed to packet loss at model split points and explored various parameter aggregation strategies by examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance . The experiments were conducted on a human embryo image segmentation task, revealing a statistically significant advantage of a deeper split point .

The methodology employed a Split U-Net model for human embryo component segmentation, with three split models: client-side front-end (CS(FE)), server-side (S), and client-side back-end (CS(BE)), and two split points: shallow split and deep split . The study utilized the Blastocyst dataset, which included 781 human embryo images with ground-truth segmentation masks for five components . The system was trained for 12 local and 15 global epochs, and each experiment was repeated for 10 runs .

The experimental results without packet loss showed that the SplitFed U-Net model outperformed the BLAST-NET model, achieving a Mean Jaccard Index (MJI) of 82.78% to 83.02% for different parameter aggregation methods . This demonstrates the effectiveness of SplitFed in improving model performance in the context of decentralized learning and packet loss resilience .

Overall, the experiments conducted in the paper, focusing on SplitFed's resilience to packet loss and the impact of different split points on model performance, provide robust empirical evidence supporting the scientific hypotheses under investigation .


What are the contributions of this paper?

The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" makes the following contributions:

  • Investigates the resilience of SplitFed to packet loss at model split points and explores various parameter aggregation strategies by examining the impact of splitting the model at different points on the final global model performance .
  • Conducts experiments on human embryo image segmentation to reveal the statistically significant advantage of a deeper split point in SplitFed .
  • Utilizes a Split U-Net model for human embryo component segmentation, analyzes various parameter aggregation methods under different conditions such as packet loss probabilities and the number of clients experiencing packet loss .
  • Simulates packet loss scenarios and evaluates the performance of the SplitFed U-Net model with different parameter aggregation methods, showcasing favorable results compared to existing models like BLAST-NET .

What work can be continued in depth?

To further advance the research in this area, one aspect that can be explored in depth is the analysis of split point choices based on loss resilience in decentralized learning, particularly in the context of SplitFed . Previous studies have focused on SplitFed's robustness to annotation errors and noisy communication links, but the impact of packet loss at model split points on loss resilience remains an area that has not been extensively studied . Investigating optimal split points selection in Split Learning (SL) and collaborative intelligence could provide valuable insights into enhancing the error resilience of decentralized learning systems .


Introduction
Background
Evolution of Federated Learning
Importance of SplitFed in distributed medical imaging
Objective
To evaluate SplitFed's resilience in Split U-Net for embryo segmentation
Investigate model split points and their impact on error tolerance
Methodology
Data Collection
Blastocyst dataset: Source and description
Image preprocessing steps
Data Preprocessing
Image normalization
Augmentation techniques (if applicable)
Split U-Net architecture explanation
Model Splitting and Depths
Shallow vs. Deep split points
Implementation details
Packet Loss Simulations
Varying packet loss scenarios
Impact on model performance
Federated Learning Strategies
Naive Averaging
Algorithm description and implementation
FedAvg
Adaptation for SplitFed
fed-NCL V2/V4
Comparison with other methods
Performance Metrics
Mean Jaccard Index (MJI) for segmentation accuracy
Results and Analysis
Error Resilience at Different Depths
Comparative analysis of model performance
SplitFed U-Net vs. BLAST-NET
Accuracy comparison (MJI) under packet loss
Advantage of SplitFed in noisy communication
Discussion
Challenges addressed by SplitFed (privacy, communication)
Potential applications in medical image analysis and mobile cloud computing
Conclusion
Summary of findings on SplitFed's resilience
Implications for future research and practical use cases
Future Work
Limitations and potential improvements
Exploration of other datasets and applications
Basic info
papers
artificial intelligence
Advanced features
Insights
Which architecture is used for human embryo image segmentation in the SplitFed study?
What is the main finding regarding segmentation accuracy under packet loss conditions?
What is the primary focus of the research described in the user input?
How do the results compare the performance of Split U-Net with different model split points?

Optimizing Split Points for Error-Resilient SplitFed Learning

Chamani Shiranthika, Parvaneh Saeedi, Ivan V. Bajić·May 29, 2024

Summary

This research investigates the resilience of Split Federated Learning (SplitFed) in model split points for human embryo image segmentation using a Split U-Net architecture. The study compares the impact of splitting the model at different depths (shallow or deep) under varying packet loss conditions, with a focus on the Blastocyst dataset. Results show that deeper split points provide better error resilience. A comparison with a centrally trained U-Net (BLAST-NET) reveals that SplitFed U-Net, employing strategies like naive averaging, FedAvg, and fed-NCL V2/V4, maintains or slightly improves segmentation accuracy (MJI: 82.78-82.99%) even with simulated packet loss. The studies also highlight the potential of federated learning techniques in addressing challenges like noisy communication and data privacy in distributed learning scenarios for applications like medical image analysis and mobile cloud computing.
Mind map
Evolution of Federated Learning
Importance of SplitFed in distributed medical imaging
Background
To evaluate SplitFed's resilience in Split U-Net for embryo segmentation
Investigate model split points and their impact on error tolerance
Objective
Introduction
Blastocyst dataset: Source and description
Image preprocessing steps
Data Collection
Shallow vs. Deep split points
Implementation details
Model Splitting and Depths
Varying packet loss scenarios
Impact on model performance
Packet Loss Simulations
Data Preprocessing
Algorithm description and implementation
Naive Averaging
Adaptation for SplitFed
FedAvg
Comparison with other methods
fed-NCL V2/V4
Mean Jaccard Index (MJI) for segmentation accuracy
Performance Metrics
Federated Learning Strategies
Methodology
Comparative analysis of model performance
Error Resilience at Different Depths
Accuracy comparison (MJI) under packet loss
Advantage of SplitFed in noisy communication
SplitFed U-Net vs. BLAST-NET
Results and Analysis
Challenges addressed by SplitFed (privacy, communication)
Potential applications in medical image analysis and mobile cloud computing
Discussion
Summary of findings on SplitFed's resilience
Implications for future research and practical use cases
Conclusion
Limitations and potential improvements
Exploration of other datasets and applications
Future Work
Outline
Introduction
Background
Evolution of Federated Learning
Importance of SplitFed in distributed medical imaging
Objective
To evaluate SplitFed's resilience in Split U-Net for embryo segmentation
Investigate model split points and their impact on error tolerance
Methodology
Data Collection
Blastocyst dataset: Source and description
Image preprocessing steps
Data Preprocessing
Image normalization
Augmentation techniques (if applicable)
Split U-Net architecture explanation
Model Splitting and Depths
Shallow vs. Deep split points
Implementation details
Packet Loss Simulations
Varying packet loss scenarios
Impact on model performance
Federated Learning Strategies
Naive Averaging
Algorithm description and implementation
FedAvg
Adaptation for SplitFed
fed-NCL V2/V4
Comparison with other methods
Performance Metrics
Mean Jaccard Index (MJI) for segmentation accuracy
Results and Analysis
Error Resilience at Different Depths
Comparative analysis of model performance
SplitFed U-Net vs. BLAST-NET
Accuracy comparison (MJI) under packet loss
Advantage of SplitFed in noisy communication
Discussion
Challenges addressed by SplitFed (privacy, communication)
Potential applications in medical image analysis and mobile cloud computing
Conclusion
Summary of findings on SplitFed's resilience
Implications for future research and practical use cases
Future Work
Limitations and potential improvements
Exploration of other datasets and applications
Key findings
1

Paper digest

What problem does the paper attempt to solve? Is this a new problem?

The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" aims to investigate the resilience of SplitFed to packet loss at model split points in decentralized learning scenarios . This study explores various parameter aggregation strategies of SplitFed by examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance . The problem addressed in the paper is the optimization of split points in SplitFed to enhance error resilience in the presence of packet loss, which is a novel focus area within the context of decentralized learning .


What scientific hypothesis does this paper seek to validate?

This paper aims to validate the scientific hypothesis related to the resilience of SplitFed to packet loss at model split points. It investigates the impact of splitting the model at different points, specifically shallow split versus deep split, on the final global model performance in the context of decentralized learning . The study explores various parameter aggregation strategies in SplitFed and examines the resilience of the system to packet loss, a common transmission error that has not been extensively studied in the domain of decentralized learning .


What new ideas, methods, or models does the paper propose? What are the characteristics and advantages compared to previous methods?

The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" proposes several innovative ideas, methods, and models in the field of decentralized learning, specifically focusing on Split Federated Learning (SplitFed) .

  1. Investigation of SplitFed Resilience to Packet Loss: The study explores the resilience of SplitFed to packet loss at model split points. It analyzes various parameter aggregation strategies of SplitFed by examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance .

  2. Parameter Aggregation Methods: The paper introduces different parameter aggregation methods (Paramagg) under varying conditions such as packet loss probabilities (PL) and the number of clients experiencing packet loss (Nc). These methods include naive averaging, federated averaging (FedAvg), auto-FedAvg, fed-NCL V2, and fed-NCL V4 .

  3. Experimental Setup and Model Architecture: The study utilizes a Split U-Net model for human embryo component segmentation. The model consists of three split models: client-side front-end (CS(FE)), server-side (S), and client-side back-end (CS(BE)). Two split points are considered: shallow split and deep split. The experiments are conducted on the Blastocyst dataset, which includes human embryo images with ground-truth segmentation masks for five components .

  4. Performance Evaluation: The paper evaluates the performance of the SplitFed U-Net model under different parameter aggregation methods. It compares the model's performance with other existing models like BLAST-NET. The results show that the SplitFed U-Net model outperforms BLAST-NET and achieves favorable performance metrics .

  5. Simulation of Packet Loss: The study simulates packet loss scenarios to analyze the model's performance under different levels of packet loss probabilities. This analysis provides insights into the robustness of the SplitFed model to packet loss, a common transmission error in decentralized learning environments . The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" introduces Split Federated Learning (SplitFed) as a novel approach that combines the privacy preservation of Federated Learning (FL) with the model balancing of Split Learning (SL) to optimize decentralized learning . Compared to previous methods, SplitFed offers several characteristics and advantages:

  6. Resilience to Packet Loss: SplitFed is designed to be resilient to packet loss at model split points, a common transmission error in decentralized learning environments. The study investigates the impact of splitting the model at different points, such as shallow split or deep split, on the final global model performance under varying packet loss probabilities and the number of clients experiencing packet loss .

  7. Parameter Aggregation Strategies: The paper explores various parameter aggregation methods (Paramagg) in SplitFed, including naive averaging, federated averaging (FedAvg), auto-FedAvg, fed-NCL V2, and fed-NCL V4. These methods play a crucial role in optimizing the model's performance and robustness in the face of packet loss scenarios .

  8. Experimental Results: In experimental evaluations, the SplitFed U-Net model demonstrates favorable performance compared to existing models like BLAST-NET. The SplitFed U-Net model achieves a mean Jaccard index (MJI) ranging from 82.57% to 83.02% under different parameter aggregation methods, showcasing its superiority in human embryo image segmentation tasks. For instance, the SplitFed U-Net model outperforms BLAST-NET, which achieved an MJI of 79.88% .

  9. Statistical Analysis: The paper provides the first statistical analysis of the effect of model split points in SplitFed on loss resilience. By examining the impact of split points on loss resilience and analyzing parameter aggregation strategies, the study contributes valuable insights into optimizing decentralized learning models for improved performance and robustness in the presence of packet loss .


Do any related researches exist? Who are the noteworthy researchers on this topic in this field?What is the key to the solution mentioned in the paper?

Several related research studies exist in the field of decentralized learning, particularly focusing on topics like Federated Learning (FL), Split Learning (SL), and Split Federated Learning (SplitFed) . Noteworthy researchers who have contributed to this area include Ivan V. Bajić, Lior Bragilevsky, Ashiv Dhondea, Zahra Hafezi Kafshgari, Chamani Shiranthika, Parvaneh Saeedi, and many others . These researchers have explored various aspects of decentralized learning, such as collaborative intelligence, loss-resilient object detection, tensor completion methods, and smart split-federated learning for tasks like medical image segmentation .

The key solution mentioned in the paper "Optimizing Split Points for Error-Resilient SplitFed Learning" involves investigating the resilience of SplitFed to packet loss at model split points . The study explores different parameter aggregation strategies of SplitFed by analyzing the impact of splitting the model at different points (shallow split or deep split) on the final global model performance. The experiments conducted on a human embryo image segmentation task reveal a statistically significant advantage of using a deeper split point for improved loss resilience in SplitFed .


How were the experiments in the paper designed?

The experiments in the paper were designed as follows:

  • The study investigated the resilience of SplitFed to packet loss at model split points by exploring various parameter aggregation strategies and examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance .
  • A Split U-Net model was utilized for human embryo component segmentation, with three split models: client-side front-end (CS(FE)), server-side (S), and client-side back-end (CS(BE)). Two split points were considered: the shallow split and the deep split. The experiments were conducted on the Blastocyst dataset, which contains human embryo images with ground-truth segmentation masks for five components. The data were non-uniformly distributed among five clients, and each client allocated 85% of its data for training and 15% for validation. Various data augmentation techniques were applied during training, and the system was trained for 12 local and 15 global epochs .
  • The experiments involved simulating packet loss, where each lost packet represented a zeroed-out row of feature and gradient maps. Different packet loss probabilities (PL) and the number of clients experiencing packet loss (Nc) were considered. Various parameter aggregation methods were tested, including naive averaging, federated averaging (FedAvg), auto-FedAvg, fed-NCL V2, and fed-NCL V4. The experiments were conducted both with and without packet loss to evaluate the model's performance .

What is the dataset used for quantitative evaluation? Is the code open source?

The dataset used for quantitative evaluation in the study on SplitFed learning for human embryo component segmentation is the Blastocyst dataset, which consists of 781 human embryo images with ground-truth segmentation masks for five components: background, zona pellucida (ZP), trophectoderm (TE), inner cell mass (ICM), and blastocoel (BL) . The code for this study is not explicitly mentioned to be open source in the provided context.


Do the experiments and results in the paper provide good support for the scientific hypotheses that need to be verified? Please analyze.

The experiments and results presented in the paper provide strong support for the scientific hypotheses that needed to be verified. The study focused on investigating the resilience of SplitFed to packet loss at model split points and explored various parameter aggregation strategies by examining the impact of splitting the model at different points, either shallow split or deep split, on the final global model performance . The experiments were conducted on a human embryo image segmentation task, revealing a statistically significant advantage of a deeper split point .

The methodology employed a Split U-Net model for human embryo component segmentation, with three split models: client-side front-end (CS(FE)), server-side (S), and client-side back-end (CS(BE)), and two split points: shallow split and deep split . The study utilized the Blastocyst dataset, which included 781 human embryo images with ground-truth segmentation masks for five components . The system was trained for 12 local and 15 global epochs, and each experiment was repeated for 10 runs .

The experimental results without packet loss showed that the SplitFed U-Net model outperformed the BLAST-NET model, achieving a Mean Jaccard Index (MJI) of 82.78% to 83.02% for different parameter aggregation methods . This demonstrates the effectiveness of SplitFed in improving model performance in the context of decentralized learning and packet loss resilience .

Overall, the experiments conducted in the paper, focusing on SplitFed's resilience to packet loss and the impact of different split points on model performance, provide robust empirical evidence supporting the scientific hypotheses under investigation .


What are the contributions of this paper?

The paper "Optimizing Split Points for Error-Resilient SplitFed Learning" makes the following contributions:

  • Investigates the resilience of SplitFed to packet loss at model split points and explores various parameter aggregation strategies by examining the impact of splitting the model at different points on the final global model performance .
  • Conducts experiments on human embryo image segmentation to reveal the statistically significant advantage of a deeper split point in SplitFed .
  • Utilizes a Split U-Net model for human embryo component segmentation, analyzes various parameter aggregation methods under different conditions such as packet loss probabilities and the number of clients experiencing packet loss .
  • Simulates packet loss scenarios and evaluates the performance of the SplitFed U-Net model with different parameter aggregation methods, showcasing favorable results compared to existing models like BLAST-NET .

What work can be continued in depth?

To further advance the research in this area, one aspect that can be explored in depth is the analysis of split point choices based on loss resilience in decentralized learning, particularly in the context of SplitFed . Previous studies have focused on SplitFed's robustness to annotation errors and noisy communication links, but the impact of packet loss at model split points on loss resilience remains an area that has not been extensively studied . Investigating optimal split points selection in Split Learning (SL) and collaborative intelligence could provide valuable insights into enhancing the error resilience of decentralized learning systems .

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