pwc-archive/papers-with-abstracts huggingface dataset:
Computation- and Communication-Efficient Online FL for Resource-Constrained Aerial Vehicles
Authors: Md-Ferdous Pervej, Richeng Jin, Md Moin Uddin Chowdhury, Simran Singh, İsmail Güvenç, Huaiyu Dai
Date: 2025-06-03 00:00:00
Tasks: Edge-computing, Federated Learning, Privacy Preserving

Privacy-preserving distributed machine learning (ML) and aerial connected vehicle (ACV)-assisted edge computing have drawn significant attention lately. Since the onboard sensors of ACVs can capture new data as they move along their trajectories, the continual arrival of such 'newly' sensed data leads to online learning and demands carefully crafting the trajectories. Besides, as typical ACVs are inherently resource-constrained, computation- and communication-efficient ML solutions are needed. Therefore, we propose a computation- and communication-efficient online aerial federated learning (2CEOAFL) algorithm to take the benefits of continual sensed data and limited onboard resources of the ACVs. In particular, considering independently owned ACVs act as selfish data collectors, we first model their trajectories according to their respective time-varying data distributions. We then propose a 2CEOAFL algorithm that allows the flying ACVs to (a) prune the received dense ML model to make it shallow, (b) train the pruned model, and (c) probabilistically quantize and offload their trained accumulated gradients to the central server (CS). Our extensive simulation results show that the proposed 2CEOAFL algorithm delivers comparable performances to its non-pruned and nonquantized, hence, computation- and communication-inefficient counterparts.
NetPress: Dynamically Generated LLM Benchmarks for Network Applications
Authors: Yajie Zhou, Jiajun Ruan, Eric S. Wang, Sadjad Fouladi, Francis Y. Yan, Kevin Hsieh, Zaoxing Liu
Date: 2025-06-03 00:00:00
Tasks: Benchmarking

Despite growing interest in domain-specific benchmarking of large language models (LLMs) and agents, current evaluations remain limited to static, small-scale datasets, especially in high-stakes tasks like network operations that demand reliability for deployments. We present NetPress, an automated benchmark generation framework for evaluating LLM agents in network applications. NetPress introduces a unified abstraction with state and action, enabling dynamic generation of diverse query sets along with corresponding ground truths. At runtime, users can specify benchmark configurations to generate millions of queries on the fly. In addition to dynamic benchmark construction, NetPress integrates with network emulators to provide realistic environment feedback, supporting comprehensive evaluation across correctness, safety, and latency. We instantiate NetPress on three representative applications, revealing interesting fine-grained differences in agent behavior that static, correctness-only benchmarks often miss. NetPress moves LLM evaluation toward realistic, scalable testing in infrastructure-centric domains, helping close the gap between benchmark performance and real-world deployment readiness. Code is available at https://github.com/Froot-NetSys/NetPress.
AI-Driven Vehicle Condition Monitoring with Cell-Aware Edge Service Migration
Authors: Charalampos Kalalas, Pavol Mulinka, Guillermo Candela Belmonte, Miguel Fornell, Michail Dalgitsis, Francisco Paredes Vera, Javier Santaella Sánchez, Carmen Vicente Villares, Roshan Sedar, Eftychia Datsika, Angelos Antonopoulos, Antonio Fernández Ojea, Miquel Payaro
Date: 2025-06-03 00:00:00
Tasks: Edge-computing

Artificial intelligence (AI) has been increasingly applied to the condition monitoring of vehicular equipment, aiming to enhance maintenance strategies, reduce costs, and improve safety. Leveraging the edge computing paradigm, AI-based condition monitoring systems process vast streams of vehicular data to detect anomalies and optimize operational performance. In this work, we introduce a novel vehicle condition monitoring service that enables real-time diagnostics of a diverse set of anomalies while remaining practical for deployment in real-world edge environments. To address mobility challenges, we propose a closed-loop service orchestration framework where service migration across edge nodes is dynamically triggered by network-related metrics. Our approach has been implemented and tested in a real-world race circuit environment equipped with 5G network capabilities under diverse operational conditions. Experimental results demonstrate the effectiveness of our framework in ensuring low-latency AI inference and adaptive service placement, highlighting its potential for intelligent transportation and mobility applications.
Channel-adaptive Cross-modal Generative Semantic Communication for Point Cloud Transmission
Authors: Wanting Yang, Zehui Xiong, Qianqian Yang, Ping Zhang, Merouane Debbah, Rahim Tafazolli
Date: 2025-06-03 00:00:00
Tasks: Autonomous Driving, Denoising, Semantic Communication

With the rapid development of autonomous driving and extended reality, efficient transmission of point clouds (PCs) has become increasingly important. In this context, we propose a novel channel-adaptive cross-modal generative semantic communication (SemCom) for PC transmission, called GenSeC-PC. GenSeC-PC employs a semantic encoder that fuses images and point clouds, where images serve as non-transmitted side information. Meanwhile, the decoder is built upon the backbone of PointDif. Such a cross-modal design not only ensures high compression efficiency but also delivers superior reconstruction performance compared to PointDif. Moreover, to ensure robust transmission and reduce system complexity, we design a streamlined and asymmetric channel-adaptive joint semantic-channel coding architecture, where only the encoder needs the feedback of average signal-to-noise ratio (SNR) and available bandwidth. In addition, rectified denoising diffusion implicit models is employed to accelerate the decoding process to the millisecond level, enabling real-time PC communication. Unlike existing methods, GenSeC-PC leverages generative priors to ensure reliable reconstruction even from noisy or incomplete source PCs. More importantly, it supports fully analog transmission, improving compression efficiency by eliminating the need for error-free side information transmission common in prior SemCom approaches. Simulation results confirm the effectiveness of cross-modal semantic extraction and dual-metric guided fine-tuning, highlighting the framework's robustness across diverse conditions, including low SNR, bandwidth limitations, varying numbers of 2D images, and previously unseen objects.
A Reinforcement Learning-Based Telematic Routing Protocol for the Internet of Underwater Things
Authors: MohammadHossein Homaei, Mehran Tarif, Agustin Di Bartolo, Oscar Mogollon Gutierrez, Mar Avila
Date: 2025-05-30 00:00:00
Tasks: Decision Making

The Internet of Underwater Things (IoUT) faces major challenges such as low bandwidth, high latency, mobility, and limited energy resources. Traditional routing protocols like RPL, which were designed for land-based networks, do not perform well in these underwater conditions. This paper introduces RL-RPL-UA, a new routing protocol that uses reinforcement learning to improve performance in underwater environments. Each node includes a lightweight RL agent that selects the best parent node based on local information such as packet delivery ratio, buffer level, link quality, and remaining energy. RL-RPL-UA keeps full compatibility with standard RPL messages and adds a dynamic objective function to support real-time decision-making. Simulations using Aqua-Sim show that RL-RPL-UA increases packet delivery by up to 9.2%, reduces energy use per packet by 14.8%, and extends network lifetime by 80 seconds compared to traditional methods. These results suggest that RL-RPL-UA is a promising and energy-efficient routing solution for underwater networks.
A Kernel-Based Approach for Accurate Steady-State Detection in Performance Time Series
Authors: Martin Beseda, Vittorio Cortellessa, Daniele Di Pompeo, Luca Traini, Michele Tucci
Date: 2025-06-04 00:00:00
Tasks: Benchmarking, Irregular Time Series, Time Series

This paper addresses the challenge of accurately detecting the transition from the warmup phase to the steady state in performance metric time series, which is a critical step for effective benchmarking. The goal is to introduce a method that avoids premature or delayed detection, which can lead to inaccurate or inefficient performance analysis. The proposed approach adapts techniques from the chemical reactors domain, detecting steady states online through the combination of kernel-based step detection and statistical methods. By using a window-based approach, it provides detailed information and improves the accuracy of identifying phase transitions, even in noisy or irregular time series. Results show that the new approach reduces total error by 14.5% compared to the state-of-the-art method. It offers more reliable detection of the steady-state onset, delivering greater precision for benchmarking tasks. For users, the new approach enhances the accuracy and stability of performance benchmarking, efficiently handling diverse time series data. Its robustness and adaptability make it a valuable tool for real-world performance evaluation, ensuring consistent and reproducible results.
WANDER: An Explainable Decision-Support Framework for HPC
Authors: Ankur Lahiry, Banooqa Banday, Tanzima Z. Islam
Date: 2025-06-04 00:00:00
Tasks: counterfactual

High-performance computing (HPC) systems expose many interdependent configuration knobs that impact runtime, resource usage, power, and variability. Existing predictive tools model these outcomes, but do not support structured exploration, explanation, or guided reconfiguration. We present WANDER, a decision-support framework that synthesizes alternate configurations using counterfactual analysis aligned with user goals and constraints. We introduce a composite trade-off score that ranks suggestions based on prediction uncertainty, consistency between feature-target relationships using causal models, and similarity between feature distributions against historical data. To our knowledge, WANDER is the first such system to unify prediction, exploration, and explanation for HPC tuning under a common query interface. Across multiple datasets WANDER generates interpretable and trustworthy, human-readable alternatives that guide users to achieve their performance objectives.
Exchangeability in Neural Network Architectures and its Application to Dynamic Pruning
Authors: Pu, Yi, Tianlang Chen, Yifan Yang, Sara Achour
Date: 2025-06-02 00:00:00

Neural networks (NNs) are equipped with increasingly many parameters and require more and more resource for deployment. Researchers have explored various ways to improve the efficiency of NNs by identifying and reducing the redundancy, such as pruning or quantizing unimportant weights. Symmetry in the NN architectures has been identified by prior work as a possible type of redundancy, but exploiting it for efficient inference is not yet explored. In this work, we formalize the symmetry of parameters and intermediate values in NNs using the statistical property of exchangeablility. We identify that exchangeable values in NN computation may contain overlapping information, leading to redundancy. Exploiting the insight, we derive a principled general dynamic pruning algorithm ExPrune to remove symmetry-induced redundancy on a per-input basis. We also provide an instantiation of ExPrune that performs neuron-level dynamic pruning by predicting negative inputs to ReLU activations. We evaluate ExPrune on two computer vision models, one graph model and one language model. ExPrune provides 10.98--26.3% reduction in FLOPs with negligible accuracy drop and 21.01--39.05% reduction in FLOPs with at most 1% accuracy drop. We also demonstrate that ExPrune composes with static pruning. On models that have been aggressively pruned statically, ExPrune provides additional 10.24--11.11% reduction in FLOPs with negligible accuracy drop and 13.91--14.39% reduction in FLOPs with at most 1% accuracy drop.
Accelerating Diffusion LLMs via Adaptive Parallel Decoding
Authors: Daniel Israel, Guy Van Den Broeck, Aditya Grover
Date: 2025-05-31 00:00:00

The generation speed of LLMs are bottlenecked by autoregressive decoding, where tokens are predicted sequentially one by one. Alternatively, diffusion large language models (dLLMs) theoretically allow for parallel token generation, but in practice struggle to achieve the speed of autoregressive models without significantly sacrificing quality. We therefore introduce adaptive parallel decoding (APD), a novel method that dynamically adjusts the number of tokens sampled in parallel. We achieve this by defining a multiplicative mixture between the dLLM marginal probabilities and the joint probability of sequences under a small auxiliary autoregressive model. This inverts the standard setup of speculative decoding, where the goal is to sample from a large autoregressive verifier by drafting from a smaller model. We further optimize APD by enabling KV caching and limiting the size of the masked input. Altogether, our method puts forward three tunable parameters to flexibly tradeoff throughput and quality. We show that APD provides markedly higher throughput with minimal quality degradations on downstream benchmarks.
CETBench: A Novel Dataset constructed via Transformations over Programs for Benchmarking LLMs for Code-Equivalence Checking
Authors: Neeva Oza, Ishaan Govil, Parul Gupta, Dinesh Khandelwal, Dinesh Garg, Parag Singla
Date: 2025-06-04 00:00:00
Tasks: Benchmarking, Code Generation, Code Translation, Dataset Generation

LLMs have been extensively used for the task of automated code generation. In this work, we examine the applicability of LLMs for the related but relatively unexplored task of code-equivalence checking, i.e., given two programs, whether they are functionally equivalent or not. This is an important problem since benchmarking code equivalence can play a critical role in evaluating LLM capabilities for tasks such as code re-writing and code translation. Towards this end, we present CETBench - Code Equivalence with Transformations Benchmark, constructed via a repository of programs, where two programs in the repository may be solving the same or different tasks. Each instance in our dataset is obtained by taking a pair of programs in the repository and applying a random series of pre-defined code transformations, resulting in (non-)equivalent pairs. Our analysis on this dataset reveals a surprising finding that very simple code transformations in the underlying pair of programs can result in a significant drop in performance of SOTA LLMs for the task of code-equivalence checking. To remedy this, we present a simple fine-tuning-based approach to boost LLM performance on the transformed pairs of programs. Our approach for dataset generation is generic, and can be used with repositories with varying program difficulty levels and allows for applying varying numbers as well as kinds of transformations. In our experiments, we perform ablations over the difficulty level of original programs, as well as the kind of transformations used in generating pairs for equivalence checking. Our analysis presents deep insights into the working of LLMs for the task of code-equivalence, and points to the fact that they may still be far from what could be termed as a semantic understanding of the underlying code.
How Programming Concepts and Neurons Are Shared in Code Language Models
Authors: Amir Hossein Kargaran, Yihong Liu, François Yvon, Hinrich Schütze
Date: 2025-06-01 00:00:00
Tasks: Translation

Several studies have explored the mechanisms of large language models (LLMs) in coding tasks, but most have focused on programming languages (PLs) in a monolingual setting. In this paper, we investigate the relationship between multiple PLs and English in the concept space of LLMs. We perform a few-shot translation task on 21 PL pairs using two Llama-based models. By decoding the embeddings of intermediate layers during this task, we observe that the concept space is closer to English (including PL keywords) and assigns high probabilities to English tokens in the second half of the intermediate layers. We analyze neuron activations for 11 PLs and English, finding that while language-specific neurons are primarily concentrated in the bottom layers, those exclusive to each PL tend to appear in the top layers. For PLs that are highly aligned with multiple other PLs, identifying language-specific neurons is not feasible. These PLs also tend to have a larger keyword set than other PLs and are closer to the model's concept space regardless of the input/output PL in the translation task. Our findings provide insights into how LLMs internally represent PLs, revealing structural patterns in the model's concept space. Code is available at https://github.com/cisnlp/code-specific-neurons.
Rectified Point Flow: Generic Point Cloud Pose Estimation
Authors: Tao Sun, Liyuan Zhu, Shengyu Huang, Shuran Song, Iro Armeni
Date: 2025-06-05 00:00:00
Tasks: Point Cloud Registration, Pose Estimation

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a continuous point-wise velocity field that transports noisy points toward their target positions, from which part poses are recovered. In contrast to prior work that regresses part-wise poses with ad-hoc symmetry handling, our method intrinsically learns assembly symmetries without symmetry labels. Together with a self-supervised encoder focused on overlapping points, our method achieves a new state-of-the-art performance on six benchmarks spanning pairwise registration and shape assembly. Notably, our unified formulation enables effective joint training on diverse datasets, facilitating the learning of shared geometric priors and consequently boosting accuracy. Project page: https://rectified-pointflow.github.io/.
Spatiotemporal Contrastive Learning for Cross-View Video Localization in Unstructured Off-road Terrains
Authors: Zhiyun Deng, Dongmyeong Lee, Amanda Adkins, Jesse Quattrociocchi, Christian Ellis, Joydeep Biswas
Date: 2025-06-05 00:00:00
Tasks: Contrastive Learning

Robust cross-view 3-DoF localization in GPS-denied, off-road environments remains challenging due to (1) perceptual ambiguities from repetitive vegetation and unstructured terrain, and (2) seasonal shifts that significantly alter scene appearance, hindering alignment with outdated satellite imagery. To address this, we introduce MoViX, a self-supervised cross-view video localization framework that learns viewpoint- and season-invariant representations while preserving directional awareness essential for accurate localization. MoViX employs a pose-dependent positive sampling strategy to enhance directional discrimination and temporally aligned hard negative mining to discourage shortcut learning from seasonal cues. A motion-informed frame sampler selects spatially diverse frames, and a lightweight temporal aggregator emphasizes geometrically aligned observations while downweighting ambiguous ones. At inference, MoViX runs within a Monte Carlo Localization framework, using a learned cross-view matching module in place of handcrafted models. Entropy-guided temperature scaling enables robust multi-hypothesis tracking and confident convergence under visual ambiguity. We evaluate MoViX on the TartanDrive 2.0 dataset, training on under 30 minutes of data and testing over 12.29 km. Despite outdated satellite imagery, MoViX localizes within 25 meters of ground truth 93% of the time, and within 50 meters 100% of the time in unseen regions, outperforming state-of-the-art baselines without environment-specific tuning. We further demonstrate generalization on a real-world off-road dataset from a geographically distinct site with a different robot platform.
Synthetic Dataset Generation for Autonomous Mobile Robots Using 3D Gaussian Splatting for Vision Training
Authors: Aneesh Deogan, Wout Beks, Peter Teurlings, Koen de Vos, Mark van den Brand, Rene van de Molengraft
Date: 2025-06-05 00:00:00
Tasks: Dataset Generation, object-detection, Object Detection, Synthetic Data Generation

Annotated datasets are critical for training neural networks for object detection, yet their manual creation is time- and labour-intensive, subjective to human error, and often limited in diversity. This challenge is particularly pronounced in the domain of robotics, where diverse and dynamic scenarios further complicate the creation of representative datasets. To address this, we propose a novel method for automatically generating annotated synthetic data in Unreal Engine. Our approach leverages photorealistic 3D Gaussian splats for rapid synthetic data generation. We demonstrate that synthetic datasets can achieve performance comparable to that of real-world datasets while significantly reducing the time required to generate and annotate data. Additionally, combining real-world and synthetic data significantly increases object detection performance by leveraging the quality of real-world images with the easier scalability of synthetic data. To our knowledge, this is the first application of synthetic data for training object detection algorithms in the highly dynamic and varied environment of robot soccer. Validation experiments reveal that a detector trained on synthetic images performs on par with one trained on manually annotated real-world images when tested on robot soccer match scenarios. Our method offers a scalable and comprehensive alternative to traditional dataset creation, eliminating the labour-intensive error-prone manual annotation process. By generating datasets in a simulator where all elements are intrinsically known, we ensure accurate annotations while significantly reducing manual effort, which makes it particularly valuable for robotics applications requiring diverse and scalable training data.
Hierarchical Language Models for Semantic Navigation and Manipulation in an Aerial-Ground Robotic System
Authors: Haokun Liu, Zhaoqi Ma, Yunong Li, Junichiro Sugihara, Yicheng Chen, Jinjie Li, Moju Zhao
Date: 2025-06-05 00:00:00
Tasks: Language Modeling, Language Modelling, Large Language Model, Motion Planning

Heterogeneous multi-robot systems show great potential in complex tasks requiring hybrid cooperation. However, traditional approaches relying on static models often struggle with task diversity and dynamic environments. This highlights the need for generalizable intelligence that can bridge high-level reasoning with low-level execution across heterogeneous agents. To address this, we propose a hierarchical framework integrating a prompted Large Language Model (LLM) and a GridMask-enhanced fine-tuned Vision Language Model (VLM). The LLM decomposes tasks and constructs a global semantic map, while the VLM extracts task-specified semantic labels and 2D spatial information from aerial images to support local planning. Within this framework, the aerial robot follows an optimized global semantic path and continuously provides bird-view images, guiding the ground robot's local semantic navigation and manipulation, including target-absent scenarios where implicit alignment is maintained. Experiments on real-world cube or object arrangement tasks demonstrate the framework's adaptability and robustness in dynamic environments. To the best of our knowledge, this is the first demonstration of an aerial-ground heterogeneous system integrating VLM-based perception with LLM-driven task reasoning and motion planning.