Publications | Liangkai Liu (刘良凯)

Preprints

Adversarial Calibration Attack on Autonomous Vehicles

Liangkai Liu, Qingzhao Zhang, Kang G. Shin

arXiv preprint

@inproceedings{liu2026calib,
  title = {Adversarial Calibration Attack on Autonomous Vehicles},
  author = {Liu, Liangkai and Zhang, Qingzhao and Shin, Kang G.},
  booktitle = {Arxiv},
  year = {2026}
}

MM-BEV: Enhancing Timeliness by Computing Where and When it Matters

Liangkai Liu, Kang G. Shin

arXiv preprint

[Paper] [Bib]

VLA-Scope: Shift-Aware Failure Prediction for Vision-Language-Action Models

Kaiwen Zhu, Dongfang Liu, Liangkai Liu

Under submission

[Bib]

@inproceedings{zhu2026vlascope,
  title = {VLA-Scope: Shift-Aware Failure Prediction for Vision-Language-Action Models},
  author = {Zhu, Kaiwen and Liu, Dongfang and Liu, Liangkai},
  booktitle = {Submission},
  year = {2026}
}

Characterization of Multi-Tenant DNN Inference Time Variations in Autonomous Vehicle Perception

Mingyu Guo, Liangkai Liu, Weisong Shi

Under submission

[Bib]

@inproceedings{guo2026characterization,
  title = {Characterization of Multi-Tenant DNN Inference Time Variations in Autonomous Vehicle Perception},
  author = {Guo, Mingyu and Liu, Liangkai and Shi, Weisong},
  booktitle = {Submission},
  year = {2026}
}

FOCUS: Fine-Grained Driving-Context Understanding for Driver Assistance

Mingke Wang, Kang G. Shin, Fan Bai, Chuan Li, Shuyao Shi, Liangkai Liu

Under submission

[Bib]

@inproceedings{wang2026focus,
  title = {FOCUS: Fine-Grained Driving-Context Understanding for Driver Assistance},
  author = {Wang, Mingke and Shin, Kang G. and Bai, Fan and Li, Chuan and Shi, Shuyao and Liu, Liangkai},
  booktitle = {Submission},
  year = {2026}
}

Context-Aware Intelligent Vehicles

Liangkai Liu, Shuyao Shi, Mingke Wang, Noah T. Curran, Chuan Li, Fan Bai, Kang G. Shin

Under submission

[Bib]

@inproceedings{liu2026context,
  title = {Context-Aware Intelligent Vehicles},
  author = {Liu, Liangkai and Shi, Shuyao and Wang, Mingke and Curran, Noah T. and Li, Chuan and Bai, Fan and Shin, Kang G.},
  booktitle = {Submission},
  year = {2026}
}

PIE: Patch-based Inference Engine for Predictable Deep Learning

Liangkai Liu, Kang G. Shin

Under submission

[Bib]

eXR: A Power-Efficient Framework For XR

Liangkai Liu, Ke Sun, Kang G. Shin

Under submission

[Bib]

Power-Efficient Autonomous Mobile Robots

Liangkai Liu, Weisong Shi, Kang G. Shin

arXiv preprint

[Paper] [Bib]

Enhancing Predictability of Multi-Tenant DNN Inference for Autonomous Vehicles’ Perception

Liangkai Liu, Kang G. Shin, Jinkyu Lee, Chengmo Yang, Weisong Shi

arXiv preprint

[Paper] [Bib]

@inproceedings{liu2024ppdnn,
  author = {Liu, Liangkai and Shin, Kang G. and Lee, Jinkyu and Yang, Chengmo and Shi, Weisong},
  title = {Enhancing Predictability of Multi-Tenant DNN Inference for Autonomous Vehicles' Perception},
  booktitle = {Arxiv},
  year = {2025}
}

Highlighted Publications

[CoRL-W '26] When Delay Meets Drift: Physical Safety of Robot Foundation Models Is a Cross-Layer Problem

Liangkai Liu

The Science of Physical AI Safety Workshop, co-located with CoRL

[Bib]

@inproceedings{liu2026delay,
  title = {When Delay Meets Drift: Physical Safety of Robot Foundation Models Is a Cross-Layer Problem},
  author = {Liu, Liangkai},
  booktitle = {The Science of Physical AI Safety Workshop, co-located with CoRL},
  year = {2026}
}

[DroneSys '26] Fleets Need a Context Plane: Rethinking Cooperative Perception for Autonomous Drones

Liangkai Liu, Xiaoxiao Wu

2nd Workshop on Autonomous Drone Computing Systems and Applications (DroneSys), co-located with ACM/IEEE SEC

[Paper] [Bib]

@inproceedings{liu2026fleets,
  title = {Fleets Need a Context Plane: Rethinking Cooperative Perception for Autonomous Drones},
  author = {Liu, Liangkai and Wu, Xiaoxiao},
  booktitle = {2nd Workshop on Autonomous Drone Computing Systems and Applications (DroneSys), co-located with ACM/IEEE SEC},
  year = {2026}
}

[RTSS '24] RT-BEV: Enhancing Real-Time BEV Perception for Autonomous Vehicles

Liangkai Liu, Jinkyu Lee, Kang G. Shin

45th IEEE Real-Time Systems Symposium

[Paper] [Code] [Bib]

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

Chao Wu^*, Yifan Gong^*, Liangkai Liu^*, Mengquan Li, Yushu Wu, Xuan Shen, Zhimin Li, Geng Yuan, Weisong Shi, Yanzhi Wang

International Conference on Computer-Aided Design (ICCAD)

[Paper] [Bib]

@inproceedings{wu2024aye,
  title = {AyE-Edge: Automated Deployment Space Search Empowering Accuracy yet Efficient Real-Time Object Detection on the Edge},
  author = {Wu, Chao and Gong, Yifan and Liu, Liangkai 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 '24] LOTUS: Learning-Based Online Thermal and Latency Variation Management for Two-Stage Detectors on Edge Devices

Yifan Gong, Yushu Wu, Zheng Zhan, Liangkai Liu, Chao Wu, Xulong Tang, Yanzhi Wang

Design Automation Conference (DAC)

[Paper] [Code] [Bib]

@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 '24] CPT: A Configurable Predictability Testbed for DNN Inference in AVs

Liangkai Liu, Yanzhi Wang, Weisong Shi

Tsinghua Science and Technology

[Paper] [Bib]

@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}
}

[ICRA '23] An Open Approach to Energy-Efficient Autonomous Mobile Robots

Liangkai Liu, Ren Zhong, Aaron Willcock, Nathan Fisher, Weisong Shi

IEEE International Conference on Robotics and Automation (ICRA)

[Paper] [Bib]

@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 '23] Compositional Mixed-Criticality Systems with Multiple Executions and Resource-Budgets Model

Abdullah Al Arafat, Sudharsan Vaidhun, Liangkai Liu, Kecheng Yang, Zhishan Guo

IEEE 29th Real-Time and Embedded Technology and Applications Symposium (RTAS)

[Paper] [Bib]

@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 '23] Fuel Rate Prediction for Heavy-Duty Trucks

Liangkai Liu, Wei Li, Dawei Wang, Yi Wu, Ruigang Yang, Weisong Shi

IEEE Transactions on Intelligent Transportation Systems

[Paper] [Code] [Bib]

@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 '23] FollowMe: A Robust Framework for the Guidance of Sensorless Indoor Mobile Robots

Sanjith Udupa, Liangkai Liu, Weisong Shi

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

[Paper] [Code] [Bib]

@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 '23] SLAM Sharing Among Heterogeneous Sensors

Ren Zhong, Liangkai Liu, Weisong Shi

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

[Paper] [Bib]

@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}
}

[RTSS '22] Prophet: Realizing a Predictable Real-Time Perception Pipeline for Autonomous Vehicles

Liangkai Liu, Zheng Dong, Yanzhi Wang, Weisong Shi

IEEE Real-Time Systems Symposium (RTSS)

[Paper] [Bib]

@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 '22] Understanding Time Variations of DNN Inference in Autonomous Driving

Liangkai Liu, Yanzhi Wang, Weisong Shi

arXiv preprint arXiv:2209.05487

[Paper] [Code] [Bib]

@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}
}

[Springer '21] Computing Systems for Autonomous Driving

Weisong Shi, Liangkai Liu

[Paper] [Bib]

[IEEE WCM '21] 4C: A Computation, Communication, and Control Co-Design Framework for CAVs

Liangkai Liu, Shaoshan Liu, Weisong Shi

IEEE Wireless Communications

[Paper] [Bib]

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

Tianze Wu, Baofu Wu, Sa Wang, Liangkai Liu, Shaoshan Liu, Yungang Bao, Weisong Shi

IEEE Robotics and Automation Letters

[Paper] [Bib]

@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}
}

[Comp. Comm. '20] Energy Aware Edge Computing: A Survey

Congfeng Jiang, Tiantian Fan, Honghao Gao, Weisong Shi, Liangkai Liu, Christophe Cérin, Jian Wan

Computer Communications

[Paper] [Bib]

@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 '20] LoPECS: A Low-Power Edge Computing System for Real-Time Autonomous Driving Services

Jie Tang, Shaoshan Liu, Liangkai Liu, Bo Yu, Weisong Shi

IEEE Access

[Paper] [Bib]

@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 '20] Energy-Efficient Machine Learning on the Edges

Mohit Kumar, Xingzhou Zhang, Liangkai Liu, Yifan Wang, Weisong Shi

IEEE international parallel and distributed processing symposium Workshops (IPDPSW)

[Paper] [Bib]

@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 '20] A Comparison of Communication Mechanisms in Vehicular Edge Computing

Liangkai Liu, Baofu Wu, Weisong Shi

3rd USENIX Workshop on Hot Topics in Edge Computing (HotEdge 20)

[Paper] [Bib]

@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 '20] Equinox: A Road-Side Edge Computing Experimental Platform for CAVs

Liangkai Liu, Yongtao Yao, Ruijun Wang, Baofu Wu, Weisong Shi

International Conference on Connected and Autonomous Driving (MetroCAD)

[Paper] [Bib]

@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 '20] Computing Systems for Autonomous Driving: State of the Art and Challenges

Liangkai Liu, Sidi Lu, Ren Zhong, Baofu Wu, Yongtao Yao, Qingyang Zhang, Weisong Shi

IEEE Internet of Things Journal

[Paper] [Bib]

@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 '20] HydraSpace: Computational Data Storage for Autonomous Vehicles

Ruijun Wang, Liangkai Liu, Weisong Shi

IEEE 6th International Conference on Collaboration and Internet Computing (CIC)

[Paper] [Bib]

@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}
}

[ICDCS '19] OpenEI: An Open Framework for Edge Intelligence

Xingzhou Zhang, Yifan Wang, Sidi Lu, Liangkai Liu, Weisong Shi, others

IEEE 39th International Conference on Distributed Computing Systems (ICDCS)

[Paper] [Bib]

@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 '19] HydraOne: An Indoor Experimental Research and Education Platform for CAVs

Yifan Wang, Liangkai Liu, Xingzhou Zhang, Weisong Shi

2nd USENIX Workshop on Hot Topics in Edge Computing (HotEdge 19)

[Paper] [Website] [Bib]

@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 '19] Edge Computing for Autonomous Driving: Opportunities and Challenges

Shaoshan Liu, Liangkai Liu, Jie Tang, Bo Yu, Yifan Wang, Weisong Shi

Proceedings of the IEEE

[Paper] [Bib]

@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 '19] E2M: An Energy-Efficient Middleware for Computer Vision Applications on Autonomous Mobile Robots

Liangkai Liu, Jiamin Chen, Marco Brocanelli, Weisong Shi

Proceedings of the 4th ACM/IEEE Symposium on Edge Computing

[Paper] [Bib]

@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 '19] Collaborative Cloud-Edge Computation for Personalized Driving Behavior Modeling

Xingzhou Zhang, Mu Qiao, Liangkai Liu, Yunfei Xu, Weisong Shi

Proceedings of the 4th ACM/IEEE Symposium on Edge Computing

[Paper] [Bib]

@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}
}

[ICDCS '18] OpenVDAP: An Open Vehicular Data Analytics Platform for CAVs

Qingyang Zhang, Yifan Wang, Xingzhou Zhang, Liangkai Liu, Xiaopei Wu, Weisong Shi, Hong Zhong

IEEE 38th International Conference on Distributed Computing Systems (ICDCS)

[Paper] [Bib]

@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 '18] SafeShareRide: Edge-based Attack Detection in Ridesharing Services

Liangkai Liu, Xingzhou Zhang, Mu Qiao, Weisong Shi

IEEE/ACM Symposium on Edge Computing (SEC)

[Paper] [Bib]

@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 '18] SafeShareRide: Edge-based Attack Detection in Ridesharing Services

Liangkai Liu, Xingzhou Zhang, Mu Qiao, Weisong Shi

USENIX Workshop on Hot Topics in Edge Computing (HotEdge 18)

[Paper] [Bib]

@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}
}