AMBLE: Adjusting mini-batch and local epoch for federated learning with heterogeneous devices

•AMBLE is the scheme for heterogeneous devices in federated learning.•AMBLE adjusts local mini-batch and local epoch adaptively.•AMBLE solves the straggler problem caused by system heterogeneity.•AMBLE can add more computation while waiting time caused by stragglers.•AMBLE adopts learning rate scaling to improve performance.