Publications

2025.

1. Pre1

   PIE: Patch-based Inference Engine for Predictable Deep Learning

   Liangkai Liu, and Kang G. Shin

   In Submission , 2025.

   Bib

   @inproceedings{liu2024pie,
     title = {PIE: Patch-based Inference Engine for Predictable Deep Learning},
     author = {Liu, Liangkai and Shin, Kang G.},
     booktitle = {Submission},
     year = {2025.}
   }

2. Pre2

   eXR: A Power-Efficient Framework For XR

   Liangkai Liu, and Kang G. Shin

   In Submission , 2025.

   Bib

   @inproceedings{liu2024eXR,
     title = {eXR: A Power-Efficient Framework For XR},
     author = {Liu, Liangkai and Shin, Kang G.},
     booktitle = {Submission},
     year = {2025.}
   }

3. Pre3

   Power-Efficient Autonomous Mobile Robots

   Liangkai Liu, Weisong Shi, and Kang G. Shin

   In Submission , 2025.

   Bib

   @inproceedings{liu2024pNav,
     title = {Power-Efficient Autonomous Mobile Robots},
     author = {Liu, Liangkai and Shi, Weisong and Shin, Kang G.},
     booktitle = {Submission},
     year = {2025.}
   }

4. Pre4

   Predictable DNN-Based Perception for Autonomous Vehicles

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

   In Submission , 2025.

   Bib

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

2024.

1. 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.}
   }

2. 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.}
   }

3. 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.}
   }

4. 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.

1. 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.}
   }

2. 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}
   }

3. 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}
   }

4. 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}
   }

5. 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.

1. 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}
   }

2. 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.

1. Springer

   

   Computing Systems for Autonomous Driving

   Weisong Shi, and Liangkai Liu

   2021.

   Bib PDF

   @book{shi2021computing,
     title = {Computing Systems for Autonomous Driving},
     author = {Shi, Weisong and Liu, Liangkai},
     year = {2021.},
     publisher = {Springer}
   }

2. 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}
   }

3. 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.

1. 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}
   }

2. 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}
   }

3. 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}
   }

4. 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.}
   }

5. 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}
   }

6. 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}
   }

7. 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.

1. 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}
   }

2. 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.}
   }

3. 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}
   }

4. 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.}
   }

5. 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.

1. 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}
   }

2. 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}
   }

3. 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}
   }