You are provided with the abstract of a scientific paper and the abstracts of the papers it references. Your task is to write a Related Work section for the main paper. This section should concisely summarize and integrate the key points from the cited abstracts, reflecting how they relate to the main paper's contributions and context. In your summary, use numerical citation markers like [1], [2], etc., to refer to the corresponding papers.

Main Abstract:
Distributed training frameworks, like TensorFlow, have been proposed as a means to reduce the training time of deep learning models by using a cluster of GPU servers. While such speedups are often desirable-e.g., for rapidly evaluating new model designs-they often come with significantly higher monetary costs due to sublinear scalability. In this paper, we investigate the feasibility of using training clusters composed of cheaper transient GPU servers to get the benefits of distributed training without the high costs. We conduct the first large-scale empirical analysis, launching more than a thousand GPU servers of various capacities, aimed at understanding the characteristics of transient GPU servers and their impact on distributed training performance. Our study demonstrates the potential of transient servers with a speedup of 7.7X with more than 62.9 monetary savings for some cluster configurations. We also identify a number of important challenges and opportunities for redesigning distributed training frameworks to be transient-aware. For example, the dynamic cost and availability characteristics of transient servers suggest the need for frameworks to dynamically change cluster configurations to best take advantage of current conditions.

Cited Abstract(s):
[1]: In order to keep the costs of operating in-memory storage on the public cloud low, we devise novel ideas and enabling modeling and optimization techniques for combining conventional Amazon EC2 instances with the cheaper spot and burstable instances. Whereas a naturally appealing way of using failure-prone spot instances is to selectively store unpopular ("cold") content, we show that a form of "hot-cold mixing" across regular and spot instances might be more cost-effective. To overcome performance degradation resulting from spot instance revocations, we employ a highly available passive backup using the recently emergent burstable instances. We show how the idiosyncratic resource allocations of burstable instances make them ideal candidates for such a backup. We implement all our ideas in an EC2-based memcached prototype. Using simulations and live experiments on our prototype, we show that (i) our hot-cold mixing, informed by our modeling of spot prices, helps improve cost savings by 50-80 compared to only using regular instances, and (ii) our burstable-based backup helps reduce performance degradation during spot revocation, e.g., the 95 latency during failure recovery improves by 25 compared to a backup based on regular instances.

[2]: Cloud spot markets enable users to bid for compute resources, such that the cloud platform may revoke them if the market price rises too high. Due to their increased risk, revocable resources in the spot market are often significantly cheaper (by as much as 10×) than the equivalent non-revocable on-demand resources. One way to mitigate spot market risk is to use various fault-tolerance mechanisms, such as checkpointing or replication, to limit the work lost on revocation. However, the additional performance overhead and cost for a particular fault-tolerance mechanism is a complex function of both an application's resource usage and the magnitude and volatility of spot market prices. We present the design of a batch computing service for the spot market, called SpotOn, that automatically selects a spot market and fault-tolerance mechanism to mitigate the impact of spot revocations without requiring application modification. SpotOn's goal is to execute jobs with the performance of on-demand resources, but at a cost near that of the spot market. We implement and evaluate SpotOn in simulation and using a prototype on Amazon's EC2 that packages jobs in Linux Containers. Our simulation results using a job trace from a Google cluster indicate that SpotOn lowers costs by 91.9 compared to using on-demand resources with little impact on performance.

[3]: Cloud computing resources that are equipped with GPU devices are widely used for applications that require extensive parallelism, such as deep learning. When the demand of cloud computing instance is low, the surplus of resources is provided at a lower price in the form of spot instance by AWS EC2. This paper proposes DeepSpotCloud that utilizes GPU-equipped spot instances to run deep learning tasks in a cost efficient and fault-tolerant way. Thorough analysis about spot instance price history logs reveals that GPU spot instances show more dynamic price change pattern than other general types of cloud computing resources. To deal with the price dynamicity of the GPU spot instance, DeepSpotCloud utilizes instances in different regions across continents as a single resource pool. This paper also proposes a task migration heuristic by utilizing a checkpointing mechanism of existing deep learning analysis platform to conduct fast task migration when a running spot instance is interrupted. Extensive experiments using real AWS services prove that the proposed task migration method is effective even in a WAN environment with limited network bandwidth. Comprehensive simulations by replaying AWS EC2 price history logs reveal that DeepSpotCloud can achieve 13 more cost gain than a state-of-the-art interrupt-driven scheduling policy. The prototype of DeepSpotCloud is implemented using various cloud computing services provided by AWS to serve real deep learning tasks.

[4]: Cloud spot markets offer virtual machines (VMs) for a dynamic price that is much lower than the fixed price of on-demand VMs. In exchange, spot VMs expose applications to multiple forms of risk, including price risk, or the risk that a VM's price will increase relative to others. Since spot prices vary continuously across hundreds of different types of VMs, flexible applications can mitigate price risk by moving to the VM that currently offers the lowest cost. To enable this flexibility, we present HotSpot, a resource container that "hops" VMs---by dynamically selecting and self-migrating to new VMs---as spot prices change. HotSpot containers define a migration policy that lowers cost by determining when to hop VMs based on the transaction costs (from vacating a VM early and briefly double paying for it) and benefits (the expected cost savings). As a side effect of migrating to minimize cost, HotSpot is also able to reduce the number of revocations without degrading performance. HotSpot is simple and transparent: since it operates at the systems-level on each host VM, users need only run an HotSpot-enabled VM image to use it. We implement a HotSpot prototype on EC2, and evaluate it using job traces from a production Google cluster. We then compare HotSpot to using on-demand VMs and spot VMs (with and without fault-tolerance) in EC2, and show that it is able to lower cost and reduce the number of revocations without degrading performance.

[5]: Infrastructure-as-a-Service (IaaS) cloud platforms rent resources, in the form of virtual machines (VMs), under a variety of contract terms that offer different levels of risk and cost. For example, users may acquire VMs in the spot market that are often cheap but entail significant risk, since their price varies over time based on market supply and demand and they may terminate at any time if the price rises too high. Currently, users must manage all the risks associated with using spot servers. As a result, conventional wisdom holds that spot servers are only appropriate for delay-tolerant batch applications. In this paper, we propose a derivative cloud platform, called SpotCheck, that transparently manages the risks associated with using spot servers for users. SpotCheck provides the illusion of an IaaS platform that offers always-available VMs on demand for a cost near that of spot servers, and supports all types of applications, including interactive ones. SpotCheck's design combines the use of nested VMs with live bounded-time migration and novel server pool management policies to maximize availability, while balancing risk and cost. We implement SpotCheck on Amazon's EC2 and show that it i) provides nested VMs to users that are 99.9989 available, ii) achieves nearly 5x cost savings compared to using equivalent types of on-demand VMs, and iii) eliminates any risk of losing VM state.

[6]: MapReduce is a scalable and fault tolerant framework, patented by Google, for computing embarrassingly parallel reductions. Hadoop is an open-source implementation of Google MapReduce that is made available as a web service to cloud users by the AmazonWeb Services (AWS) cloud computing infrastructure. Amazon Spot Instances (SIs) provide an inexpensive yet transient and market-based option to purchasing virtualized instances for execution in AWS. As opposed to manually controlling when an instance is terminated, SI termination can also occur automatically as a function of the market price and maximum user bid price. We find that we can significantly improve the runtime of MapReduce jobs in our benchmarks by using SIs as accelerators. However, we also find that SI termination due to budget constraints during the job can have adverse affects on the runtime and may cause the user to overpay for their job. We describe new techniques that help reduce such effects.

[7]: Large-scale public cloud providers invest billions of dollars into their cloud infrastructure and operate hundreds of thousands of servers across the globe. For various reasons, much of this provisioned server capacity runs at low average utilization, and there is tremendous competitive pressure to increase utilization. Conceptually, the way to increase utilization is clear: Run time-insensitive batch-job workloads as secondary background tasks whenever server capacity is underutilized; and evict these workloads when the server's primary task requires more resources. Big data analytic tasks would seem to be an ideal fit to run opportunistically on such transient resources in the cloud. In reality, however, modern distributed data processing systems such as MapReduce or Spark are designed to run as the primary task on dedicated hardware, and they perform badly on transiently available resources because of the excessive cost of cascading re-computations in case of evictions. In this paper, we propose a new framework for big data analytics on transient resources. Specifically, we design and implement TR-Spark, a version of Spark that can run highly efficiently as a secondary background task on transient (evictable) resources. The design of TR-Spark is based on two principles: resource stability and data size reduction-aware scheduling and lineage-aware checkpointing. The combination of these principles allows TR-Spark to naturally adapt to the stability characteristics of the underlying compute infrastructure. Evaluation results show that while regular Spark effectively fails to finish a job in clusters of even moderate instability, TR-Spark performs nearly as well as Spark running on stable resources.

[8]: Many shared computing clusters allow users to utilize excess idle resources at lower cost or priority, with the proviso that some or all may be taken away at any time. But, exploiting such dynamic resource availability and the often fluctuating markets for them requires agile elasticity and effective acquisition strategies. Proteus aggressively exploits such transient revocable resources to do machine learning (ML) cheaper and or faster. Its parameter server framework, AgileML, efficiently adapts to bulk additions and revocations of transient machines, through a novel 3-stage active-backup approach, with minimal use of more costly non-transient resources. Its BidBrain component adaptively allocates resources from multiple EC2 spot markets to minimize average cost per work as transient resource availability and cost change over time. Our evaluations show that Proteus reduces cost by 85 relative to non-transient pricing, and by 43 relative to previous approaches, while simultaneously reducing runtimes by up to 37 .

[9]: Cloud providers have begun to offer their surplus capacity in the form of low-cost transient servers, which can be revoked unilaterally at any time. While the low cost of transient servers makes them attractive for a wide range of applications, such as data processing and scientific computing, failures due to server revocation can severely degrade application performance. Since different transient server types offer different cost and availability tradeoffs, we present the notion of server portfolios that is based on financial portfolio modeling. Server portfolios enable construction of an "optimal" mix of severs to meet an application's sensitivity to cost and revocation risk. We implement model-driven portfolios in a system called ExoSphere, and show how diverse applications can use portfolios and application-specific policies to gracefully handle transient servers. We show that ExoSphere enables widely-used parallel applications such as Spark, MPI, and BOINC to be made transiency-aware with modest effort. Our experiments show that allowing the applications to use suitable transiency-aware policies, ExoSphere is able to achieve 80 cost savings when compared to on-demand servers and greatly reduces revocation risk compared to existing approaches.

[10]: Cloud providers now offer transient servers, which they may revoke at anytime, for significantly lower prices than on-demand servers, which they cannot revoke. The low price of transient servers is particularly attractive for executing an emerging class of workload, which we call Batch-Interactive Data-Intensive (BIDI), that is becoming increasingly important for data analytics. BIDI workloads require large sets of servers to cache massive datasets in memory to enable low latency operation. In this paper, we illustrate the challenges of executing BIDI workloads on transient servers, where revocations (akin to failures) are the common case. To address these challenges, we design Flint, which is based on Spark and includes automated checkpointing and server selection policies that i) support batch and interactive applications and ii) dynamically adapt to application characteristics. We evaluate a prototype of Flint using EC2 spot instances, and show that it yields cost savings of up to 90 compared to using on-demand servers, while increasing running time by

[11]: The Tributary elastic control system embraces the uncertain nature of transient cloud resources, such as AWS spot instances, to manage elastic services with latency SLOs more robustly and more cost-effectively. Such resources are available at lower cost, but with the proviso that they can be preempted en masse, making them risky to rely upon for business-critical services. Tributary creates models of preemption likelihood and exploits the partial independence among different resource offerings, selecting collections of resource allocations that satisfy SLO requirements and adjusting them over time, as client workloads change. Although Tributary's collections are often larger than required in the absence of preemptions, they are cheaper because of both lower spot costs and partial refunds for preempted resources. At the same time, the often-larger sets allow unexpected workload bursts to be absorbed without SLO violation. Over a range of web service workloads, we find that Tributary reduces cost for achieving a given SLO by 81-86 compared to traditional scaling on non-preemptible resources, and by 47-62 compared to the high-risk approach of the same scaling with spot resources.
Since transient servers are cheaper than their on-demand counterparts, many researchers have studied how to effectively run applications on cloud transient servers with as few modifications as possible [4] [5] . Some researchers have proposed transient-aware resource managers [3]3 [3]4 to optimize job schedulers by taking into account the revocation rates of transient servers. Other researchers have proposed system-level fault-tolerance techniques such as dynamic checkpointing to optimize the execution time of various applications, including web services [5] [6]3 , big data applications [6] [10] [7] [2] and other memory-intensive applications [1] . DeepSpotCloud [3] looked at how to effectively train deep learning models by migrating from one GPU server to a cheaper transient server. Our efforts differs from prior work in two major ways. First, we focus on understanding how distributed training can benefit from cheap transient servers. Unlike the commonly studied batch jobs, big data applications, or even web services, training deep learning models poses a unique trade-off of converging accuracy and training speed. Second, we explored the feasibility and quantified the benefits of performing distributed training on transient servers and identify important transient-aware design changes in distributed training frameworks in order to more effectively utilize transient resources.