Marek Galinski

Wanja de Sombre, Monika Tomová, Marek Galinski et al.

The Satellite Internet of Things (S-IoT) enables global connectivity for remote sensing devices that must operate energy-efficiently over long time spans. We consider an S-IoT system consisting of a sender-receiver pair connected by a data channel and a feedback channel and capture its dynamics using a Markov Decision Process (MDP). To extend battery life, the sender has to decide on deep-sleep durations. Deep-sleep scheduling is the primary lever to reduce energy consumption, since sleeping devices consume only a fraction of their idle power. By choosing its deep-sleep duration online, the sender has to find a trade-off between energy consumption and data quality degradation at the receiver, captured by a weighted sum of costs. We quantify data quality degradation via the recently introduced Goal-Oriented Tensor (GoT) metric, which can take both age and content of delivered data into account. We assume a Markovian observed process and Markov channels with time-varying delay and erasure rates. The challenge is that content awareness of the GoT metric makes periodic transmissions inherently inefficient. Additionally, optimal sleep durations depends on the (unknown) future states of the observed process and the channels, both of which must be inferred online. We propose a novel algorithm using probabilistic simulation-based optimization (PSBO). With PSBO, the sensor forecasts future states based on estimated transition probabilities, and uses these forecasts to select the optimal deep-sleep duration. Extensive simulations and experiments with S-IoT hardware demonstrate superior performance of PSBO under diverse conditions.

Matej Halinkovic, Nina Masarykova, Alexey Vinel et al.

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully differentiable perception-and-prediction (PnP) models mitigate these issues, yet the complementarity of cameras and LiDAR in the query-space has not been sufficiently explored. Models often rely on fusion schemes that introduce heuristic alignment and discrete selection steps which prevent full utilization of available information and can introduce unwanted bias. We propose Li-ViP3D++, a query-based multimodal PnP framework that introduces Query-Gated Deformable Fusion (QGDF) to integrate multi-view RGB and LiDAR in query space. QGDF (i) aggregates image evidence via masked attention across cameras and feature levels, (ii) extracts LiDAR context through fully differentiable BEV sampling with learned per-query offsets, and (iii) applies query-conditioned gating to adaptively weight visual and geometric cues per agent. The resulting architecture jointly optimizes detection, tracking, and multi-hypothesis trajectory forecasting in a single end-to-end model. On nuScenes, Li-ViP3D++ improves end-to-end behavior and detection quality, achieving higher EPA (0.335) and mAP (0.502) while substantially reducing false positives (FP ratio 0.147), and it is faster than the prior Li-ViP3D variant (139.82 ms vs. 145.91 ms). These results indicate that query-space, fully differentiable camera-LiDAR fusion can increase robustness of end-to-end PnP without sacrificing deployability.