Adversarial Robustness Analysis of Cloud-Assisted Autonomous Driving Systems

Autonomous vehicles increasingly rely on deep learning-based perception and control, which impose substantial computational demands. Cloud-assisted architectures offload these functions to remote servers, enabling enhanced perception and coordinated decision-making through the Internet of Vehicles (IoV). However, this paradigm introduces cross-layer vulnerabilities, where adversarial manipulation of perception models and network impairments in the vehicle-cloud link can jointly undermine safety-critical autonomy. This paper presents a hardware-in-the-loop IoV testbed that integrates real-time perception, control, and communication to evaluate such vulnerabilities in cloud-assisted autonomous driving. A YOLOv8-based object detector deployed on the cloud is subjected to whitebox adversarial attacks using the Fast Gradient Sign Method (FGSM) and Projected Gradient Descent (PGD), while network adversaries induce delay and packet loss in the vehicle-cloud loop. Results show that adversarial perturbations significantly degrade perception performance, with PGD reducing detection precision and recall from 0.73 and 0.68 in the clean baseline to 0.22 and 0.15 at epsilon= 0.04. Network delays of 150-250 ms, corresponding to transient losses of approximately 3-4 frames, and packet loss rates of 0.5-5 % further destabilize closed-loop control, leading to delayed actuation and rule violations. These findings highlight the need for cross-layer resilience in cloud-assisted autonomous driving systems.

IndoorCrowd: A Multi-Scene Dataset for Human Detection, Segmentation, and Tracking with an Automated Annotation Pipeline

Understanding human behaviour in crowded indoor environments is central to surveillance, smart buildings, and human-robot interaction, yet existing datasets rarely capture real-world indoor complexity at scale. We introduce IndoorCrowd, a multi-scene dataset for indoor human detection, instance segmentation, and multi-object tracking, collected across four campus locations (ACS-EC, ACS-EG, IE-Central, R-Central). It comprises $31$ videos ($9{,}913$ frames at $5$fps) with human-verified, per-instance segmentation masks. A $620$-frame control subset benchmarks three foundation-model auto-annotators: SAM3, GroundingSAM, and EfficientGroundingSAM, against human labels using Cohen's $κ$, AP, precision, recall, and mask IoU. A further $2{,}552$-frame subset supports multi-object tracking with continuous identity tracks in MOTChallenge format. We establish detection, segmentation, and tracking baselines using YOLOv8n, YOLOv26n, and RT-DETR-L paired with ByteTrack, BoT-SORT, and OC-SORT. Per-scene analysis reveals substantial difficulty variation driven by crowd density, scale, and occlusion: ACS-EC, with $79.3\%$ dense frames and a mean instance scale of $60.8$px, is the most challenging scene. The project page is available at https://sheepseb.github.io/IndoorCrowd/.

MARS-Dragonfly: Agile and Robust Flight Control of Modular Aerial Robot Systems

Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control algorithms for MARS rely on simplified quasi-static models and rule-based allocation, which generate discontinuous and unbounded motor commands. This leads to attitude error accumulation as the number of drone units scales, ultimately causing severe oscillations during docking, separation, and waypoint tracking. To address these limitations, we first design a compact mechanical system that enables passive docking, detection-free passive locking, and magnetic-assisted separation using a single micro servo. Second, we introduce a force-torque-equivalent and polytope-constraint virtual quadrotor that explicitly models feasible wrench sets. Together, these abstractions capture the full MARS dynamics and enable existing quadrotor controllers to be applied across different configurations. We further optimize the yaw angle that maximizes control authority to enhance agility. Third, building on this abstraction, we design a two-stage predictive-allocation pipeline: a constrained predictive tracker computes virtual inputs while respecting force/torque bounds, and a dynamic allocator maps these inputs to individual modules with balanced objectives to produce smooth, trackable motor commands. Simulations across over 10 configurations and real-world experiments demonstrate stable docking, locking, and separation, as well as effective control performance. To our knowledge, this is the first real-world demonstration of MARS achieving agile flight and transport with 40 deg peak pitch while maintaining an average position error of 0.0896 m. The video is available at: https://youtu.be/yqjccrIpz5o

Fluently Lying: Adversarial Robustness Can Be Substrate-Dependent

The primary tools used to monitor and defend object detectors under adversarial attack assume that when accuracy degrades, detection count drops in tandem. This coupling was assumed, not measured. We report a counterexample observed on a single model: under standard PGD, EMS-YOLO, a spiking neural network (SNN) object detector, retains more than 70% of its detections while mAP collapses from 0.528 to 0.042. We term this count-preserving accuracy collapse Quality Corruption (QC), to distinguish it from the suppression that dominates untargeted evaluation. Across four SNN architectures and two threat models (l-infinity and l-2), QC appears only in one of the four detectors tested (EMS-YOLO). On this model, all five standard defense components fail to detect or mitigate QC, suggesting the defense ecosystem may rely on a shared assumption calibrated on a single substrate. These results provide, to our knowledge, the first evidence that adversarial failure modes can be substrate-dependent.

EAGLE: Edge-Aware Graph Learning for Proactive Delivery Delay Prediction in Smart Logistics Networks

Modern logistics networks generate rich operational data streams at every warehouse node and transportation lane -- from order timestamps and routing records to shipping manifests -- yet predicting delivery delays remains predominantly reactive. Existing predictive approaches typically treat this problem either as a tabular classification task, ignoring network topology, or as a time-series anomaly detection task, overlooking the spatial dependencies of the supply chain graph. To bridge this gap, we propose a hybrid deep learning framework for proactive supply chain risk management. The proposed method jointly models temporal order-flow dynamics via a lightweight Transformer patch encoder and inter-hub relational dependencies through an Edge-Aware Graph Attention Network (E-GAT), optimized via a multi-task learning objective. Evaluated on the real-world DataCo Smart Supply Chain dataset, our framework achieves consistent improvements over baseline methods, yielding an F1-score of 0.8762 and an AUC-ROC of 0.9773. Across four independent random seeds, the framework exhibits a cross-seed F1 standard deviation of only 0.0089 -- a 3.8 times improvement over the best ablated variant -- achieving the strongest balance of predictive accuracy and training stability among all evaluated models.

GenGait: A Transformer-Based Model for Human Gait Anomaly Detection and Normative Twin Generation

Gait analysis provides an objective characterization of locomotor function and is widely used to support diagnosis and rehabilitation monitoring across neurological and orthopedic disorders. Deep learning has been increasingly applied to this domain, yet most approaches rely on supervised classifiers trained on disease-labeled data, limiting generalization to heterogeneous pathological presentations. This work proposes a label-free framework for joint-level anomaly detection and kinematic correction based on a Transformer masked autoencoder trained exclusively on normative gait sequences from 150 adults, acquired with a markerless multi-camera motion-capture system. At inference, a two-pass procedure is applied to potentially pathological input sequences, first it estimates joint inconsistency scores by occluding individual joints and measuring deviations from the learned normative prior. Then, it withholds the flagged joints from the encoder input and reconstructs the full skeleton from the remaining spatiotemporal context, yielding corrected kinematic trajectories at the flagged positions. Validation on 10 held-out normative participants, who mimicked seven simulated gait abnormalities, showed accurate localization of biomechanically inconsistent joints, a significant reduction in angular deviation across all analyzed joints with large effect sizes, and preservation of normative kinematics. The proposed approach enables interpretable, subject-specific localization of gait impairments without requiring disease labels. Video is available at https://youtu.be/Rcm3jqR5pN4.

Validating Computational Markers of Depressive Behavior: Cross-Linguistic Speech-Based Depression Detection with Neurophysiological Validation

Speech-based depression detection has shown promise as an objective diagnostic tool, yet the cross-linguistic robustness of acoustic markers and their neurobiological underpinnings remain underexplored. This study extends Cross-Data Multilevel Attention (CDMA) framework, initially validated on Italian, to investigate these dimensions using a Chinese Mandarin dataset with Electroencephalography (EEG) recordings. We systematically fuse read speech with spontaneous speech across different emotional valences (positive, neutral, negative) to investigate whether emotional arousal is a more critical factor than valence polarity in enhancing detection performance in speech. Additionally, we establish the first neurophysiological validation for a speech-based depression model by correlating its predictions with neural oscillatory patterns during emotional face processing. Our results demonstrate strong cross-linguistic generalizability of the CDMA framework, achieving state-of-the-art performance (F1-score up to 89.6%) on the Chinese dataset, which is comparable to the previous Italian validation. Critically, emotionally valenced speech (both positive and negative) significantly outperformed neutral speech. This comparable performance between positive and negative tasks supports the emotional arousal hypothesis. Most importantly, EEG analysis revealed significant correlations between the model's speech-derived depression estimates and neural oscillatory patterns (theta and alpha bands), demonstrating alignment with established neural markers of emotional dysregulation in depression. This alignment, combined with the model's cross-linguistic robustness, not only supports that the CDMA framework's approach is a universally applicable and neurobiologically validated strategy but also establishes a novel paradigm for the neurophysiological validation of computational mental health models.

Seclens: Role-specific Evaluation of LLM's for security vulnerablity detection

Existing benchmarks for LLM-based vulnerability detection compress model performance into a single metric, which fails to reflect the distinct priorities of different stakeholders. For example, a CISO may emphasize high recall of critical vulnerabilities, an engineering leader may prioritize minimizing false positives, and an AI officer may balance capability against cost. To address this limitation, we introduce SecLens-R, a multi-stakeholder evaluation framework structured around 35 shared dimensions grouped into 7 measurement categories. The framework defines five role-specific weighting profiles: CISO, Chief AI Officer, Security Researcher, Head of Engineering, and AI-as-Actor. Each profile selects 12 to 16 dimensions with weights summing to 80, yielding a composite Decision Score between 0 and 100. We apply SecLens-R to evaluate 12 frontier models on a dataset of 406 tasks derived from 93 open-source projects, covering 10 programming languages and 8 OWASP-aligned vulnerability categories. Evaluations are conducted across two settings: Code-in-Prompt (CIP) and Tool-Use (TU). Results show substantial variation across stakeholder perspectives, with Decision Scores differing by as much as 31 points for the same model. For instance, Qwen3-Coder achieves an A (76.3) under the Head of Engineering profile but a D (45.2) under the CISO profile, while GPT-5.4 shows a similar disparity. These findings demonstrate that vulnerability detection is inherently a multi-objective problem and that stakeholder-aware evaluation provides insights that single aggregated metrics obscure.

Evolutionary Multi-Objective Fusion of Deepfake Speech Detectors

While deepfake speech detectors built on large self-supervised learning (SSL) models achieve high accuracy, employing standard ensemble fusion to further enhance robustness often results in oversized systems with diminishing returns. To address this, we propose an evolutionary multi-objective score fusion framework that jointly minimizes detection error and system complexity. We explore two encodings optimized by NSGA-II: binary-coded detector selection for score averaging and a real-valued scheme that optimizes detector weights for a weighted sum. Experiments on the ASVspoof 5 dataset with 36 SSL-based detectors show that the obtained Pareto fronts outperform simple averaging and logistic regression baselines. The real-valued variant achieves 2.37% EER (0.0684 minDCF) and identifies configurations that match state-of-the-art performance while significantly reducing system complexity, requiring only half the parameters. Our method also provides a diverse set of trade-off solutions, enabling deployment choices that balance accuracy and computational cost.

Deep Neural Network Based Roadwork Detection for Autonomous Driving

Road construction sites create major challenges for both autonomous vehicles and human drivers due to their highly dynamic and heterogeneous nature. This paper presents a real-time system that detects and localizes roadworks by combining a YOLO neural network with LiDAR data. The system identifies individual roadwork objects while driving, merges them into coherent construction sites and records their outlines in world coordinates. The model training was based on an adapted US dataset and a new dataset collected from test drives with a prototype vehicle in Berlin, Germany. Evaluations on real-world road construction sites showed a localization accuracy below 0.5 m. The system can support traffic authorities with up-to-date roadwork data and could enable autonomous vehicles to navigate construction sites more safely in the future.