Lip Yee Por | Searcharxiv

arXiv2026

Large Language Model Enhanced Differentiable Trajectory Planning for IoT-Enabled Autonomous Driving

Autonomous driving planning is a key component of IoT-enabled intelligent transportation systems, requiring vehicles to generate safe, efficient, and executable trajectories in complex urban environments from multi-source contextual information. While imitation learning (IL) has shown promise on large-scale datasets, IL-based planners still suffer from limited coverage of complex long-tail interactions, weak consistency with downstream constrained refinement, and insufficient use of high level scene semantics under real time constraints. To address these issues, this paper proposes a large language model (LLM) enhanced differentiable trajectory planning framework for IoT-enabled autonomous driving. Specifically, we introduce a surrounding agent centric data augmentation strategy to reorganize sur rounding agent trajectories as additional planning supervision, thereby improving the training distribution without collecting additional raw data. We further design a complexity-aware asyn chronous LLM-based semantic enhancement module to extract scene-related high-level semantic features with controlled online overhead. In addition, a differentiable optimization module is incorporated to refine generated trajectories with explicit residual penalties while backpropagating optimization gradients to the upstream planner. Experiments show that the proposed method achieves the best overall scores of 83.63 and 78.29 on the nuPlan closed-loop nonreactive and reactive Hard20 benchmarks, respectively, and CARLA-ROS tests further verify its online deployment and real time closed-loop execution capability.

cs.RO↗

arXiv2026

SwarmSense-DNN: A Trustworthy and Decentralized Neural Framework for Proactive Anomaly Defense in Consumer IoT

The rapid growth of consumer IoT devices has introduced unprecedented challenges in trustworthy anomaly detection against AI-enabled cyber threats, requiring real-time, privacy-preserving, and scalable defense mechanisms. Traditional centralized strategies face critical limitations, including communication bottlenecks, single points of failure, and privacy vulnerabilities when processing distributed consumer data. We propose SwarmSense-DNN, a novel decentralized neural framework employing swarm intelligence for secure, cooperative anomaly detection across distributed IoT environments. The framework integrates autonomous agents with deep neural networks to form a self-organizing defense system that detects evolving anomalies without centralized coordination. It utilizes hierarchical federated learning with graph neural networks and attention mechanisms to capture local and global anomaly behaviors while ensuring data privacy. Extensive experiments demonstrate SwarmSense-DNN's superior performance: it achieves 95.44% average detection accuracy across five benchmark datasets while reducing communication overhead by 67%. The framework maintains robust resilience against adversarial threats through differential privacy safeguards and demonstrates strong fault tolerance under node failures and AI-enabled attacks.

cs.CR↗