CoInfra: A Large-Scale Cooperative Infrastructure Perception System and Dataset in Adverse Weather

We present CoInfra, a large-scale cooperative infrastructure perception system and dataset designed to advance robust multi-agent perception under real-world and adverse weather conditions. The CoInfra system includes 14 fully synchronized sensor nodes, each equipped with dual RGB cameras and a LiDAR, deployed across a shared region and operating continuously to capture all traffic participants in real-time. A robust, delay-aware synchronization protocol and a scalable system architecture that supports real-time data fusion, OTA management, and remote monitoring are provided in this paper. On the other hand, the dataset was collected in different weather scenarios, including sunny, rainy, freezing rain, and heavy snow and includes 195k LiDAR frames and 390k camera images from 8 infrastructure nodes that are globally time-aligned and spatially calibrated. Furthermore, comprehensive 3D bounding box annotations for five object classes (i.e., car, bus, truck, person, and bicycle) are provided in both global and individual node frames, along with high-definition maps for contextual understanding. Baseline experiments demonstrate the trade-offs between early and late fusion strategies, the significant benefits of HD map integration are discussed. By openly releasing our dataset, codebase, and system documentation at https://github.com/NingMingHao/CoInfra, we aim to enable reproducible research and drive progress in infrastructure-supported autonomous driving, particularly in challenging, real-world settings.

Real-World Deployment of Cloud Autonomous Mobility System Using 5G Networks for Outdoor and Indoor Environments

The growing complexity of both outdoor and indoor mobility systems demands scalable, cost-effective, and reliable perception and communication frameworks. This work presents the real-world deployment and evaluation of a Cloud Autonomous Mobility (CAM) system that leverages distributed sensor nodes connected via 5G networks, which integrates LiDAR- and camera-based perception at infrastructure units, cloud computing for global information fusion, and Ultra-Reliable Low Latency Communications (URLLC) to enable real-time situational awareness and autonomous operation. The CAM system is deployed in two distinct environments: a dense urban roundabout and a narrow indoor hospital corridor. Field experiments show improved traffic monitoring, hazard detection, and asset management capabilities. The paper also discusses practical deployment challenges and shares key insights for scaling CAM systems. The results highlight the potential of cloud-based infrastructure perception to advance both outdoor and indoor intelligent transportation systems.

Generalizable Resource Scaling of 5G Slices using Constrained Reinforcement Learning

Network slicing is a key enabler for 5G to support various applications. Slices requested by service providers (SPs) have heterogeneous quality of service (QoS) requirements, such as latency, throughput, and jitter. It is imperative that the 5G infrastructure provider (InP) allocates the right amount of resources depending on the slice's traffic, such that the specified QoS levels are maintained during the slice's lifetime while maximizing resource efficiency. However, there is a non-trivial relationship between the QoS and resource allocation. In this paper, this relationship is learned using a regression-based model. We also leverage a risk-constrained reinforcement learning agent that is trained offline using this model and domain randomization for dynamically scaling slice resources while maintaining the desired QoS level. Our novel approach reduces the effects of network modeling errors since it is model-free and does not require QoS metrics to be mathematically formulated in terms of traffic. In addition, it provides robustness against uncertain network conditions, generalizes to different real-world traffic patterns, and caters to various QoS metrics. The results show that the state-of-the-art approaches can lead to QoS degradation as high as 44.5% when tested on previously unseen traffic. On the other hand, our approach maintains the QoS degradation below a preset 10% threshold on such traffic, while minimizing the allocated resources. Additionally, we demonstrate that the proposed approach is robust against varying network conditions and inaccurate traffic predictions.