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Fully decentralized model training for on-road vehicles can leverage crowdsourced data while not depending on central servers, infrastructure or Internet coverage. However, under unreliable wireless communication and short contact duration, model sharing among peer vehicles may suffer severe losses thus fail frequently. To address these challenges, we propose “RoADTrain”, a route-assisted decentralized peer model training approach that carefully chooses vehicles with high chances of successful model sharing. It bounds the per round communication time yet retains model performance under vehicle mobility and unreliable communication. Based on shared route information, a connected cluster of vehicles can estimate and embed the link reliability and contact duration information into the communication topology. We decompose the topology into subgraphs supporting parallel communication, and identify a subset of them with the highest algebraic connectivity that can maximize the speed of the information flow in the cluster with high model sharing successes, thus accelerating model training in the cluster. We conduct extensive evaluation on driving decision making models using the popular CARLA simulator. RoADTrain achieves comparable driving success rates and 1.2−4.5× faster convergence than representative decentralized learning methods that always succeed in model sharing (e.g., SGP), and significantly outperforms other benchmarks that consider losses by 17−27% in the hardest driving conditions. These demonstrate that route sharing enables shrewd selection of vehicles for model sharing, thus better model performance and faster convergence against wireless losses and mobility. 

Abstract Candidate bacterial phylum Omnitrophota has not been isolated and is poorly understood. We analysed 72 newly sequenced and 349 existing Omnitrophota genomes representing 6 classes and 276 species, along with Earth Microbiome Project data to evaluate habitat, metabolic traits and lifestyles. We applied fluorescence-activated cell sorting and differential size filtration, and showed that most Omnitrophota are ultra-small (~0.2 μm) cells that are found in water, sediments and soils. Omnitrophota genomes in 6 classes are reduced, but maintain major biosynthetic and energy conservation pathways, including acetogenesis (with or without the Wood-Ljungdahl pathway) and diverse respirations. At least 64% of Omnitrophota genomes encode gene clusters typical of bacterial symbionts, suggesting host-associated lifestyles. We repurposed quantitative stable-isotope probing data from soils dominated by andesite, basalt or granite weathering and identified 3 families with high isotope uptake consistent with obligate bacterial predators. We propose that most Omnitrophota inhabit various ecosystems as predators or parasites.