Publications | Liangkai Liu

2025.

Pre5

MM-BEV: Enhancing Multi-Modality BEV Perception with LiDAR and Cameras

Liangkai Liu, and Kang G. Shin

In Submission , 2025.

Bib

@inproceedings{liu2025mmbev,
  title = {MM-BEV: Enhancing Multi-Modality BEV Perception with LiDAR and Cameras},
  author = {Liu, Liangkai and Shin, Kang G.},
  booktitle = {Submission},
  year = {2025.}
}

Pre4

PIE: Patch-based Inference Engine for Predictable Deep Learning

Liangkai Liu, and Kang G. Shin

In Submission , 2025.

Bib

@inproceedings{liu2025pie,
  author = {Liu, Liangkai and Shin, Kang G.},
  title = {PIE: Patch-based Inference Engine for Predictable Deep Learning},
  booktitle = {Submission},
  year = {2025.}
}

Pre3

eXR: A Power-Efficient Framework For XR

Liangkai Liu, Ke Sun, and Kang G. Shin

In Submission , 2025.

Bib

@inproceedings{liu2025eXR,
  author = {Liu, Liangkai and Sun, Ke and Shin, Kang G.},
  title = {eXR: A Power-Efficient Framework For XR},
  booktitle = {Submission},
  year = {2025.}
}

Pre2

Power-Efficient Autonomous Mobile Robots

Liangkai Liu, Weisong Shi, and Kang G. Shin

In Submission , 2025.

Bib

@inproceedings{liu2025pNav,
  author = {Liu, Liangkai and Shi, Weisong and Shin, Kang G.},
  title = {Power-Efficient Autonomous Mobile Robots},
  booktitle = {Submission},
  year = {2025.}
}

Pre1

Predictable DNN-Based Perception for Autonomous Vehicles

Liangkai Liu, Kang G. Shin, Chengmo Yang , and 1 more author

In Submission , 2025.

Bib

@inproceedings{liu2024ppdnn,
  author = {Liu, Liangkai and Shin, Kang G. and Yang, Chengmo and Shi, Weisong},
  title = {Predictable DNN-Based Perception for Autonomous Vehicles},
  booktitle = {Submission},
  year = {2025.}
}

2024.

RTSS

RT-BEV: Enhancing Real-Time BEV Perception for Autonomous Vehicles

Liangkai Liu, Jinkyu Lee, and Kang G. Shin

In 45th IEEE Real-Time Systems Symposium , 2024.

Bib PDF Code

@inproceedings{liu2024bev,
  title = {RT-BEV: Enhancing Real-Time BEV Perception for Autonomous Vehicles},
  author = {Liu, Liangkai and Lee, Jinkyu and Shin, Kang G.},
  booktitle = {45th IEEE Real-Time Systems Symposium},
  year = {2024.}
}

ICCAD

AyE-Edge: Automated Deployment Space Search Empowering Accuracy yet Efficient Real-Time Object Detection on the Edge

Liangkai Liu^*, Chao Wu^*, Yifan Gong^* , and 7 more authors

In International Conference on Computer-Aided Design (ICCAD) , 2024.

Bib PDF

@inproceedings{wu2024aye,
  title = {AyE-Edge: Automated Deployment Space Search Empowering Accuracy yet Efficient Real-Time Object Detection on the Edge},
  author = {Liu, Liangkai and Wu, Chao and Gong, Yifan and Li, Mengquan and Wu, Yushu and Shen, Xuan and Li, Zhimin and Yuan, Geng and Shi, Weisong and Wang, Yanzhi},
  booktitle = {International Conference on Computer-Aided Design (ICCAD)},
  year = {2024.}
}

DAC

LOTUS: Learning-Based Online Thermal and Latency Variation Management for Two-Stage Detectors on Edge Devices

Yifan Gong, Yushu Wu, Zheng Zhan , and 4 more authors

In Design Automation Conference (DAC) , 2024.

Bib PDF Code

@inproceedings{gong2024lotus,
  title = {LOTUS: Learning-Based Online Thermal and Latency Variation Management for Two-Stage Detectors on Edge Devices},
  author = {Gong, Yifan and Wu, Yushu and Zhan, Zheng and Liu, Liangkai and Wu, Chao and Tang, Xulong and Wang, Yanzhi},
  booktitle = {Design Automation Conference (DAC)},
  year = {2024.}
}

Tsinghua Sci Tech

CPT: A Configurable Predictability Testbed for DNN Inference in AVs

Liangkai Liu, Yanzhi Wang, and Weisong Shi

In Tsinghua Science and Technology , 2024.

Bib PDF

@inproceedings{liu2024cpt,
  title = {CPT: A Configurable Predictability Testbed for DNN Inference in AVs},
  author = {Liu, Liangkai and Wang, Yanzhi and Shi, Weisong},
  booktitle = {Tsinghua Science and Technology},
  year = {2024.}
}

2023.

ICRA

An Open Approach to Energy-Efficient Autonomous Mobile Robots

Liangkai Liu, Ren Zhong, Aaron Willcock , and 2 more authors

In IEEE International Conference on Robotics and Automation (ICRA) , 2023.

Bib PDF

@inproceedings{liu2023open,
  title = {An Open Approach to Energy-Efficient Autonomous Mobile Robots},
  author = {Liu, Liangkai and Zhong, Ren and Willcock, Aaron and Fisher, Nathan and Shi, Weisong},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2023.}
}

RTAS

Compositional Mixed-Criticality Systems with Multiple Executions and Resource-Budgets Model

Abdullah Al Arafat, Sudharsan Vaidhun, Liangkai Liu , and 2 more authors

In IEEE 29th Real-Time and Embedded Technology and Applications Symposium (RTAS) , 2023.

Bib PDF

@inproceedings{al2023compositional,
  title = {Compositional Mixed-Criticality Systems with Multiple Executions and Resource-Budgets Model},
  author = {Al Arafat, Abdullah and Vaidhun, Sudharsan and Liu, Liangkai and Yang, Kecheng and Guo, Zhishan},
  booktitle = {IEEE 29th Real-Time and Embedded Technology and Applications Symposium (RTAS)},
  pages = {67--79},
  year = {2023.},
  organization = {IEEE}
}

IEEE TITS

Fuel Rate Prediction for Heavy-Duty Trucks

Liangkai Liu, Wei Li, Dawei Wang , and 3 more authors

IEEE Transactions on Intelligent Transportation Systems, 2023.

Bib PDF Code

@article{liu2023fuel,
  title = {Fuel Rate Prediction for Heavy-Duty Trucks},
  author = {Liu, Liangkai and Li, Wei and Wang, Dawei and Wu, Yi and Yang, Ruigang and Shi, Weisong},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  volume = {24},
  number = {8},
  pages = {8222--8235},
  year = {2023.},
  publisher = {IEEE}
}

IEEE MOST

FollowMe: A Robust Framework for the Guidance of Sensorless Indoor Mobile Robots

Sanjith Udupa, Liangkai Liu, and Weisong Shi

In IEEE International Conference on Mobility, Operations, Services and Technologies (MOST) , 2023.

Bib PDF Code

@inproceedings{udupa2023followme,
  title = {FollowMe: A Robust Framework for the Guidance of Sensorless Indoor Mobile Robots},
  author = {Udupa, Sanjith and Liu, Liangkai and Shi, Weisong},
  booktitle = {IEEE International Conference on Mobility, Operations, Services and Technologies (MOST)},
  pages = {34--43},
  year = {2023.},
  organization = {IEEE}
}

IEEE MOST

SLAM Sharing Among Heterogeneous Sensors

Ren Zhong, Liangkai Liu, and Weisong Shi

In IEEE International Conference on Mobility, Operations, Services and Technologies (MOST) , 2023.

Bib PDF

@inproceedings{zhong2023slam,
  title = {SLAM Sharing Among Heterogeneous Sensors},
  author = {Zhong, Ren and Liu, Liangkai and Shi, Weisong},
  booktitle = {IEEE International Conference on Mobility, Operations, Services and Technologies (MOST)},
  pages = {167--176},
  year = {2023.},
  organization = {IEEE}
}

2022.

RTSS

Prophet: Realizing a Predictable Real-Time Perception Pipeline for Autonomous Vehicles

Liangkai Liu, Zheng Dong, Yanzhi Wang , and 1 more author

In IEEE Real-Time Systems Symposium (RTSS) , 2022.

Bib PDF

@inproceedings{liu2022prophet,
  title = {Prophet: Realizing a Predictable Real-Time Perception Pipeline for Autonomous Vehicles},
  author = {Liu, Liangkai and Dong, Zheng and Wang, Yanzhi and Shi, Weisong},
  booktitle = {IEEE Real-Time Systems Symposium (RTSS)},
  pages = {305--317},
  year = {2022.},
  organization = {IEEE}
}

MLBench

Understanding Time Variations of DNN Inference in Autonomous Driving

Liangkai Liu, Yanzhi Wang, and Weisong Shi

arXiv preprint arXiv:2209.05487, 2022.

Bib PDF Code

@article{liu2022understanding,
  title = {Understanding Time Variations of DNN Inference in Autonomous Driving},
  author = {Liu, Liangkai and Wang, Yanzhi and Shi, Weisong},
  journal = {arXiv preprint arXiv:2209.05487},
  year = {2022.}
}

2021.

Springer

Computing Systems for Autonomous Driving

Weisong Shi, and Liangkai Liu

2021.

Bib PDF

IEEE WCM

4C: A Computation, Communication, and Control Co-Design Framework for CAVs

Liangkai Liu, Shaoshan Liu, and Weisong Shi

IEEE Wireless Communications, 2021.

Bib PDF

@article{liu20214c,
  title = {4C: A Computation, Communication, and Control Co-Design Framework for CAVs},
  author = {Liu, Liangkai and Liu, Shaoshan and Shi, Weisong},
  journal = {IEEE Wireless Communications},
  volume = {28},
  number = {4},
  pages = {42--48},
  year = {2021.},
  publisher = {IEEE}
}

RA-L

Oops! It’s Too Late. Your Autonomous Driving System Needs a Faster Middleware

Tianze Wu, Baofu Wu, Sa Wang , and 4 more authors

IEEE Robotics and Automation Letters, 2021.

Bib PDF

@article{wu2021oops,
  title = {Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware},
  author = {Wu, Tianze and Wu, Baofu and Wang, Sa and Liu, Liangkai and Liu, Shaoshan and Bao, Yungang and Shi, Weisong},
  journal = {IEEE Robotics and Automation Letters},
  volume = {6},
  number = {4},
  pages = {7301--7308},
  year = {2021.},
  publisher = {IEEE}
}

2020.

Comp. Comm.

Energy Aware Edge Computing: A Survey

Congfeng Jiang, Tiantian Fan, Honghao Gao , and 4 more authors

Computer Communications, 2020.

Bib PDF

@article{jiang2020energy,
  title = {Energy Aware Edge Computing: A Survey},
  author = {Jiang, Congfeng and Fan, Tiantian and Gao, Honghao and Shi, Weisong and Liu, Liangkai and C{\'e}rin, Christophe and Wan, Jian},
  journal = {Computer Communications},
  volume = {151},
  pages = {556--580},
  year = {2020.},
  publisher = {Elsevier}
}

IEEE Access

LoPECS: A Low-Power Edge Computing System for Real-Time Autonomous Driving Services

Jie Tang, Shaoshan Liu, Liangkai Liu , and 2 more authors

IEEE Access, 2020.

Bib PDF

@article{tang2020lopecs,
  title = {LoPECS: A Low-Power Edge Computing System for Real-Time Autonomous Driving Services},
  author = {Tang, Jie and Liu, Shaoshan and Liu, Liangkai and Yu, Bo and Shi, Weisong},
  journal = {IEEE Access},
  volume = {8},
  pages = {30467--30479},
  year = {2020.},
  publisher = {IEEE}
}

IPDPSW

Energy-Efficient Machine Learning on the Edges

Mohit Kumar, Xingzhou Zhang, Liangkai Liu , and 2 more authors

In IEEE international parallel and distributed processing symposium Workshops (IPDPSW) , 2020.

Bib PDF

@inproceedings{kumar2020energy,
  title = {Energy-Efficient Machine Learning on the Edges},
  author = {Kumar, Mohit and Zhang, Xingzhou and Liu, Liangkai and Wang, Yifan and Shi, Weisong},
  booktitle = {IEEE international parallel and distributed processing symposium Workshops (IPDPSW)},
  pages = {912--921},
  year = {2020.},
  organization = {IEEE}
}

HotEdge

A Comparison of Communication Mechanisms in Vehicular Edge Computing

Liangkai Liu, Baofu Wu, and Weisong Shi

In 3rd USENIX Workshop on Hot Topics in Edge Computing (HotEdge 20) , 2020.

Bib PDF

@inproceedings{liu2020comparison,
  title = {A Comparison of Communication Mechanisms in Vehicular Edge Computing},
  author = {Liu, Liangkai and Wu, Baofu and Shi, Weisong},
  booktitle = {3rd USENIX Workshop on Hot Topics in Edge Computing (HotEdge 20)},
  year = {2020.}
}

MetroCAD

Equinox: A Road-Side Edge Computing Experimental Platform for CAVs

Liangkai Liu, Yongtao Yao, Ruijun Wang , and 2 more authors

In International Conference on Connected and Autonomous Driving (MetroCAD) , 2020.

Bib PDF

@inproceedings{liu2020equinox,
  title = {Equinox: A Road-Side Edge Computing Experimental Platform for CAVs},
  author = {Liu, Liangkai and Yao, Yongtao and Wang, Ruijun and Wu, Baofu and Shi, Weisong},
  booktitle = {International Conference on Connected and Autonomous Driving (MetroCAD)},
  pages = {41--42},
  year = {2020.},
  organization = {IEEE}
}

IoTJ

Computing Systems for Autonomous Driving: State of the Art and Challenges

Liangkai Liu, Sidi Lu, Ren Zhong , and 4 more authors

IEEE Internet of Things Journal, 2020.

Bib PDF

@article{liu2020computing,
  title = {Computing Systems for Autonomous Driving: State of the Art and Challenges},
  author = {Liu, Liangkai and Lu, Sidi and Zhong, Ren and Wu, Baofu and Yao, Yongtao and Zhang, Qingyang and Shi, Weisong},
  journal = {IEEE Internet of Things Journal},
  volume = {8},
  number = {8},
  pages = {6469--6486},
  year = {2020.},
  publisher = {IEEE}
}

CIC

HydraSpace: Computational Data Storage for Autonomous Vehicles

Ruijun Wang, Liangkai Liu, and Weisong Shi

In IEEE 6th International Conference on Collaboration and Internet Computing (CIC) , 2020.

Bib PDF

@inproceedings{wang2020hydraspace,
  title = {HydraSpace: Computational Data Storage for Autonomous Vehicles},
  author = {Wang, Ruijun and Liu, Liangkai and Shi, Weisong},
  booktitle = {IEEE 6th International Conference on Collaboration and Internet Computing (CIC)},
  pages = {70--77},
  year = {2020.},
  organization = {IEEE}
}

2019.

ICDCS

OpenEI: An Open Framework for Edge Intelligence

Xingzhou Zhang, Yifan Wang, Sidi Lu , and 3 more authors

In IEEE 39th International Conference on Distributed Computing Systems (ICDCS) , 2019.

Bib PDF

@inproceedings{zhang2019openei,
  title = {OpenEI: An Open Framework for Edge Intelligence},
  author = {Zhang, Xingzhou and Wang, Yifan and Lu, Sidi and Liu, Liangkai and Shi, Weisong and others},
  booktitle = {IEEE 39th International Conference on Distributed Computing Systems (ICDCS)},
  pages = {1840--1851},
  year = {2019.},
  organization = {IEEE}
}

HotEdge

HydraOne: An Indoor Experimental Research and Education Platform for CAVs

Yifan Wang, Liangkai Liu, Xingzhou Zhang , and 1 more author

In 2nd USENIX Workshop on Hot Topics in Edge Computing (HotEdge 19) , 2019.

Bib PDF Website

@inproceedings{wang2019hydraone,
  title = {HydraOne: An Indoor Experimental Research and Education Platform for CAVs},
  author = {Wang, Yifan and Liu, Liangkai and Zhang, Xingzhou and Shi, Weisong},
  booktitle = {2nd USENIX Workshop on Hot Topics in Edge Computing (HotEdge 19)},
  year = {2019.}
}

PIEEE

Edge Computing for Autonomous Driving: Opportunities and Challenges

Shaoshan Liu, Liangkai Liu, Jie Tang , and 3 more authors

Proceedings of the IEEE, 2019.

Bib PDF

@article{liu2019edge,
  title = {Edge Computing for Autonomous Driving: Opportunities and Challenges},
  author = {Liu, Shaoshan and Liu, Liangkai and Tang, Jie and Yu, Bo and Wang, Yifan and Shi, Weisong},
  journal = {Proceedings of the IEEE},
  volume = {107},
  number = {8},
  pages = {1697--1716},
  year = {2019.},
  publisher = {IEEE}
}

SEC

E2M: An Energy-Efficient Middleware for Computer Vision Applications on Autonomous Mobile Robots

Liangkai Liu, Jiamin Chen, Marco Brocanelli , and 1 more author

In Proceedings of the 4th ACM/IEEE Symposium on Edge Computing , 2019.

Bib PDF

@inproceedings{liu2019e2m,
  title = {E2M: An Energy-Efficient Middleware for Computer Vision Applications on Autonomous Mobile Robots},
  author = {Liu, Liangkai and Chen, Jiamin and Brocanelli, Marco and Shi, Weisong},
  booktitle = {Proceedings of the 4th ACM/IEEE Symposium on Edge Computing},
  pages = {59--73},
  year = {2019.}
}

SEC

Collaborative Cloud-Edge Computation for Personalized Driving Behavior Modeling

Xingzhou Zhang, Mu Qiao, Liangkai Liu , and 2 more authors

In Proceedings of the 4th ACM/IEEE Symposium on Edge Computing , 2019.

Bib PDF

@inproceedings{zhang2019collaborative,
  title = {Collaborative Cloud-Edge Computation for Personalized Driving Behavior Modeling},
  author = {Zhang, Xingzhou and Qiao, Mu and Liu, Liangkai and Xu, Yunfei and Shi, Weisong},
  booktitle = {Proceedings of the 4th ACM/IEEE Symposium on Edge Computing},
  pages = {209--221},
  year = {2019.}
}

2018.

ICDCS

OpenVDAP: An Open Vehicular Data Analytics Platform for CAVs

Qingyang Zhang, Yifan Wang, Xingzhou Zhang , and 4 more authors

In IEEE 38th International Conference on Distributed Computing Systems (ICDCS) , 2018.

Bib PDF

@inproceedings{zhang2018openvdap,
  title = {OpenVDAP: An Open Vehicular Data Analytics Platform for CAVs},
  author = {Zhang, Qingyang and Wang, Yifan and Zhang, Xingzhou and Liu, Liangkai and Wu, Xiaopei and Shi, Weisong and Zhong, Hong},
  booktitle = {IEEE 38th International Conference on Distributed Computing Systems (ICDCS)},
  pages = {1310--1320},
  year = {2018.},
  organization = {IEEE}
}

SEC

SafeShareRide: Edge-based Attack Detection in Ridesharing Services

Liangkai Liu, Xingzhou Zhang, Mu Qiao , and 1 more author

In IEEE/ACM Symposium on Edge Computing (SEC) , 2018.

Bib PDF

@inproceedings{liu2018safeshareride,
  title = {SafeShareRide: Edge-based Attack Detection in Ridesharing Services},
  author = {Liu, Liangkai and Zhang, Xingzhou and Qiao, Mu and Shi, Weisong},
  booktitle = {IEEE/ACM Symposium on Edge Computing (SEC)},
  pages = {17--29},
  year = {2018.},
  organization = {IEEE}
}

HotEdge

SafeShareRide: Edge-based Attack Detection in Ridesharing Services

Liangkai Liu, Xingzhou Zhang, Mu Qiao , and 1 more author

In USENIX Workshop on Hot Topics in Edge Computing (HotEdge 18) , 2018.

Bib PDF

@inproceedings{liu2018hotedge,
  title = {{SafeShareRide}: Edge-based Attack Detection in Ridesharing Services},
  booktitle = {USENIX Workshop on Hot Topics in Edge Computing (HotEdge 18)},
  author = {Liu, Liangkai and Zhang, Xingzhou and Qiao, Mu and Shi, Weisong},
  year = {2018.},
  address = {Boston, MA},
  url = {https://www.usenix.org/conference/hotedge18/presentation/liu},
  publisher = {USENIX Association}
}