Liping Han

Liping Han, Tingting Nie, Le Yu et al.

Flight control software is typically designed with numerous configurable parameters governing multiple functionalities, enabling flexible adaptation to mission diversity and environmental uncertainty. Although developers and manufacturers usually provide recommendations for these parameters to ensure safe and stable operations, certain combinations of parameters with recommended values may still lead to unstable flight behaviors, thereby degrading the drone's robustness. To this end, we propose a Large Language Model (LLM) based approach for real-time repair of risk-prone configurations (named RisConFix) that degrade drone robustness. RisConFix continuously monitors the drone's operational state and automatically triggers a repair mechanism once abnormal flight behaviors are detected. The repair mechanism leverages an LLM to analyze relationships between configuration parameters and flight states, and then generates corrective parameter updates to restore flight stability. To ensure the validity of the updated configuration, RisConFix operates as an iterative process; it continuously monitors the drone's flight state and, if an anomaly persists after applying an update, automatically triggers the next repair cycle. We evaluated RisConFix through a case study of ArduPilot (with 1,421 groups of misconfigurations). Experimental results show that RisConFix achieved a best repair success rate of 97% and an optimal average number of repairs of 1.17, demonstrating its capability to effectively and efficiently repair risk-prone configurations in real time.

Zhao Yang, Dianwen Ng, Xiao Fu et al.

End-to-end automatic speech recognition (ASR) has achieved promising results. However, most existing end-to-end ASR methods neglect the use of specific language characteristics. For Mandarin Chinese ASR tasks, there exist mutual promotion relationship between Pinyin and Character where Chinese characters can be romanized by Pinyin. Based on the above intuition, we first investigate types of end-to-end encoder-decoder based models in the single-input dual-output (SIDO) multi-task framework, after which a novel asynchronous decoding with fuzzy Pinyin sampling method is proposed according to the one-to-one correspondence characteristics between Pinyin and Character. Furthermore, we proposed a two-stage training strategy to make training more stable and converge faster. The results on the test sets of AISHELL-1 dataset show that the proposed enhanced dual-decoder model without a language model is improved by a big margin compared to strong baseline models.