Giant Deep Neural Networks (DNNs), have become indispensable for accurate and robust support of large-scale cloud based AI services. However, serving giant DNNs is prohibitively expensive from an energy consumption viewpoint easily exceeding that of training, due to the enormous scale of GPU clusters needed to hold giant DNN model partitions and replicas. Existing approaches can either optimize energy efficiency or inference accuracy but not both. To overcome this status quo, we propose HybridServe, a novel hybrid DNN model serving system that leverages multiple sized versions (small to giant) of the model to be served in tandem. Through a confidence based hybrid model serving dataflow, HybridServe prefers to serve inference requests with energy-efficient smaller models so long as accuracy is not compromised, thereby reducing the number of replicas needed for giant DNNs. HybridServe also features a dataflow planner for efficient partitioning and replication of candidate models to maximize serving system throughput. Experimental results using a prototype implementation of HybridServe show that it reduces energy footprint by up to 19.8x compared to the state-of-the-art DNN model serving systems while matching the accuracy of serving solely with giant DNNs.

This paper presents the design, development, and application of a novel space simulation environment for rapidly prototyping and testing flight software for distributed space systems. The environment combines the flexibility, determinism, and observability of software-only simulation with the fidelity and depth normally attained only by real-time hardware-in-the-loop testing. Ultimately, this work enables an engineering process in which flight software is continuously improved and delivered in its final, flight-ready form, and which reduces the cost of design changes and software revisions with respect to a traditional linear development process. Three key methods not found in existing tools enable this environment's novel capabilities: first, a hybrid event-driven simulation architecture that combines continuous-time and discrete-event simulation paradigms; second, a lightweight application-layer software virtualization design that allows executing compiled flight software binaries while modeling process scheduling, input/output, and memory use; and third, high-fidelity models for the multi-spacecraft space environment, including for wireless communication, relative sensing such as differential GPS and cameras, and flight computer health metrics like heap exhaustion and fragmentation. The simulation environment's capabilities are applied to the iterative development and testing of two flight-ready software packages: the guidance, navigation, and control software for the VISORS mission, and the Stanford Space Rendezvous Laboratory software kit for rendezvous and proximity operations. Results from 33 months of flight software development demonstrate the use of this simulation environment to rapidly and reliably identify and resolve defects, characterize navigation and control performance, and scrutinize implementation details like memory allocation and inter-spacecraft network protocols.

--Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework for real-time surface reconstruction and navigation that is designed for outdoor LiDAR scanning data captured by ground mobile robots and capable of handling moving objects such as pedestrians. Our reconstruction-based approach is well aligned with the critical cellular functions performed by the border vector cells (BVCs) over all layers of the medial entorhinal cortex (MEC) for surface sensing and tracking. T o address the challenges arising from blurred boundaries resulting from sparse single-frame LiDAR points and outdated data due to object movements, we integrate real-time single-frame mesh reconstruction, via visibility reasoning, with robot navigation assistance through on-the-fly 3D free space determination. This enables continuous and incremental updates of the scene and free space across multiple frames. Key to our method is the utilization of line-of-sight (LoS) vectors from LiDAR, which enable real-time surface normal estimation, as well as robust and instantaneous per-voxel free space updates. Comprehensive experiments on both synthetic and real scenes highlight our method's superiority in speed and quality over existing real-time LiDAR processing approaches. UMANS and most animals all possess the innate ability to sense and navigate through spatial environments around them in real time. While the complete and precise mechanisms behind such capabilities are not yet fully understood, the Nobel-winning work conducted by John O'Keefe in the 1970s on place cells [1], [2] has paved the way for understanding the brain's "inner global positioning system (GPS)". Pengdi Huang, Mingyang Wang, Huan Tian, and Hui Huang are with College of Computer Science and Software Engineering, Shenzhen University, Shenzhen 518060, China (email: alualu628628@gmail.com; Minglun Gong is with School of Computer Science, University of Guelph, Delft N1G 2W1, Canada (email: minglun@uoguelph.ca) Hao Zhang is with School of Computing Science, Simon Fraser University, Burnaby V3J 1A1, Canada (email: haoz@sfu.ca)

As modern software systems expand in scale and complexity, the challenges associated with their modeling and formulation grow increasingly intricate. Traditional approaches often fall short in effectively addressing these complexities, particularly in tasks such as design pattern detection for maintenance and assessment, as well as code refactoring for optimization and long-term sustainability. This growing inadequacy underscores the need for a paradigm shift in how such challenges are approached and resolved. This paper presents Analytical Software Engineering (ASE), a novel design paradigm aimed at balancing abstraction, tool accessibility, compatibility, and scalability. ASE enables effective modeling and resolution of complex software engineering problems. The paradigm is evaluated through two frameworks Behavioral-Structural Sequences (BSS) and Optimized Design Refactoring (ODR), both developed in accordance with ASE principles. BSS offers a compact, language-agnostic representation of codebases to facilitate precise design pattern detection. ODR unifies artifact and solution representations to optimize code refactoring via heuristic algorithms while eliminating iterative computational overhead. By providing a structured approach to software design challenges, ASE lays the groundwork for future research in encoding and analyzing complex software metrics.

Deep learning-based weather forecasting models have recently demonstrated significant performance improvements over gold-standard physics-based simulation tools. However, these models are vulnerable to adversarial attacks, which raises concerns about their trustworthiness. In this paper, we first investigate the feasibility of applying existing adversarial attack methods to weather forecasting models. We argue that a successful attack should (1) not modify significantly its original inputs, (2) be faithful, i.e., achieve the desired forecast at targeted locations with minimal changes to non-targeted locations, and (3) be geospatio-temporally realistic. However, balancing these criteria is a challenge as existing methods are not designed to preserve the geospatio-temporal dependencies of the original samples. To address this challenge, we propose a novel framework called FABLE (Forecast Alteration By Localized targeted advErsarial attack), which employs a 3D discrete wavelet decomposition to extract the varying components of the geospatio-temporal data. By regulating the magnitude of adversarial perturbations across different components, FABLE can generate adversarial inputs that maintain geospatio-temporal coherence while remaining faithful and closely aligned with the original inputs. Experimental results on multiple real-world datasets demonstrate the effectiveness of our framework over baseline methods across various metrics.

The use of deep learning (DL) on Internet of Things (IoT) and mobile devices offers numerous advantages over cloud-based processing. However, such devices face substantial energy constraints to prolong battery-life, or may even operate intermittently via energy-harvesting. Consequently, \textit{energy-aware} approaches for optimizing DL inference and training on such resource-constrained devices have garnered recent interest. We present an overview of such approaches, outlining their methodologies, implications for energy consumption and system-level efficiency, and their limitations in terms of supported network types, hardware platforms, and application scenarios. We hope our review offers a clear synthesis of the evolving energy-aware DL landscape and serves as a foundation for future research in energy-constrained computing.

In embedded systems, robots must perceive and interpret their environment efficiently to operate reliably in real-world conditions. Visual Semantic SLAM (Simultaneous Localization and Mapping) enhances standard SLAM by incorporating semantic information into the map, enabling more informed decision-making. However, implementing such systems on resource-limited hardware involves trade-offs between accuracy, computing efficiency, and power usage. This paper provides a comparative review of recent Semantic Visual SLAM methods with a focus on their applicability to embedded platforms. We analyze three main types of architectures - Geometric SLAM, Neural Radiance Fields (NeRF), and 3D Gaussian Splatting - and evaluate their performance on constrained hardware, specifically the NVIDIA Jetson AGX Orin. We compare their accuracy, segmentation quality, memory usage, and energy consumption. Our results show that methods based on NeRF and Gaussian Splatting achieve high semantic detail but demand substantial computing resources, limiting their use on embedded devices. In contrast, Semantic Geometric SLAM offers a more practical balance between computational cost and accuracy. The review highlights a need for SLAM algorithms that are better adapted to embedded environments, and it discusses key directions for improving their efficiency through algorithm-hardware co-design.

Multivariate time series (MTS) forecasting has a wide range of applications in both industry and academia. Recently, spatial-temporal graph neural networks (STGNNs) have gained popularity as MTS forecasting methods. However, current STGNNs can only use the finite length of MTS input data due to the computational complexity. Moreover, they lack the ability to identify similar patterns throughout the entire dataset and struggle with data that exhibit sparsely and discontinuously distributed correlations among variables over an extensive historical period, resulting in only marginal improvements. In this article, we introduce a simple yet effective k-nearest neighbor MTS forecasting ( kNN-MTS) framework, which forecasts with a nearest neighbor retrieval mechanism over a large datastore of cached series, using representations from the MTS model for similarity search. This approach requires no additional training and scales to give the MTS model direct access to the whole dataset at test time, resulting in a highly expressive model that consistently improves performance, and has the ability to extract sparse distributed but similar patterns spanning over multivariables from the entire dataset. Furthermore, a hybrid spatial-temporal encoder (HSTEncoder) is designed for kNN-MTS which can capture both long-term temporal and short-term spatial-temporal dependencies and is shown to provide accurate representation for kNN-MTSfor better forecasting. Experimental results on several real-world datasets show a significant improvement in the forecasting performance of kNN-MTS. The quantitative analysis also illustrates the interpretability and efficiency of kNN-MTS, showing better application prospects and opening up a new path for efficiently using the large dataset in MTS models.

Cooperative game theory methods, notably Shapley values, have significantly enhanced machine learning (ML) interpretability. However, existing explainable AI (XAI) frameworks mainly attribute average model predictions, overlooking predictive uncertainty. This work addresses that gap by proposing a novel, model-agnostic uncertainty attribution (UA) method grounded in conformal prediction (CP). By defining cooperative games where CP interval properties-such as width and bounds-serve as value functions, we systematically attribute predictive uncertainty to input features. Extending beyond the traditional Shapley values, we use the richer class of Harsanyi allocations, and in particular the proportional Shapley values, which distribute attribution proportionally to feature importance. We propose a Monte Carlo approximation method with robust statistical guarantees to address computational feasibility, significantly improving runtime efficiency. Our comprehensive experiments on synthetic benchmarks and real-world datasets demonstrate the practical utility and interpretative depth of our approach. By combining cooperative game theory and conformal prediction, we offer a rigorous, flexible toolkit for understanding and communicating predictive uncertainty in high-stakes ML applications.

Robust reinforcement learning (RL) under the average-reward criterion is crucial for long-term decision making under potential environment mismatches, yet its finite-sample complexity study remains largely unexplored. Existing works offer algorithms with asymptotic guarantees, but the absence of finite-sample analysis hinders its principled understanding and practical deployment, especially in data-limited settings. We close this gap by proposing Robust Halpern Iteration (RHI), the first algorithm with provable finite-sample complexity guarantee. Under standard uncertainty sets -- including contamination sets and $\ell_p$-norm balls -- RHI attains an $ε$-optimal policy with near-optimal sample complexity of $\tilde{\mathcal O}\left(\frac{SA\mathcal H^{2}}{ε^{2}}\right)$, where $S$ and $A$ denote the numbers of states and actions, and $\mathcal H$ is the robust optimal bias span. This result gives the first polynomial sample complexity guarantee for robust average-reward RL. Moreover, our RHI's independence from prior knowledge distinguishes it from many previous average-reward RL studies. Our work thus constitutes a significant advancement in enhancing the practical applicability of robust average-reward methods to complex, real-world problems.