Autonomous navigation for Unmanned Aerial Vehicles (UAVs) presents significant challenges due to the limited onboard computational resources, which often restrict deployed deep neural networks to shallow architectures incapable of handling complex environments. Additionally, offloading tasks to remote edge servers introduces high latency, creating an inherent trade-off in system design. To address these limitations, we propose CoDrone—the first cloud-edge-end collaborative computing framework that integrates foundation models into autonomous UAV cruising scenarios—effectively leveraging foundation models to enhance the performance of resource-constrained unmanned aerial vehicle platforms. To reduce both onboard computation and data transmission overhead, CoDrone employs grayscale imagery for the navigation model. When enhanced environmental perception is required, CoDrone leverages the edge-assisted foundation model Depth Anything V2 for depth estimation and introduces a novel, one-dimensional occupancy grid–based navigation method—enabling fine-grained scene understanding while significantly advancing the efficiency and representational simplicity of autonomous navigation. A key component of CoDrone is a Deep Reinforcement Learning (DRL)-based neural scheduler that seamlessly integrates depth estimation with autonomous navigation decisions, enabling real-time adaptation to dynamic environments. Furthermore, the framework introduces a UAV-specific vision language interaction module, which incorporates domain-tailored low-level flight primitives to enable effective interaction between the cloud foundation model, the Vision Language model, and the UAV. The introduction of VLM enhances open-set reasoning capabilities in complex and previously unseen scenarios. We implement a prototype of CoDrone and conduct extensive evaluations in the AirSim simulation environment. Experimental results demonstrate that CoDrone significantly outperforms baseline methods under varying flight speeds and network conditions, achieving a 40% increase in average flight distance and a 5% improvement in average Quality of Navigation.

Fine-grained air pollution forecasting is crucial for urban management and the development of healthy buildings. Deploying portable sensors on mobile platforms such as cars and buses offers a low-cost, easy-to-maintain, and wide-coverage data collection solution. However, due to the random and uncontrollable movement patterns of these non-dedicated mobile platforms, the resulting sensor data are often incomplete and temporally inconsistent. By exploring potential training patterns in the reverse process of diffusion models, we proposeSpatio-TemporalPhysics-InformedDiffusion Models (STeP-Diff). STeP-Diff leverages DeepONet to model the spatial sequence of measurements along with a PDE-informed diffusion model to forecast the spatio-temporal field from incomplete and time-varying data. Through a PDE-constrained regularization framework, the denoising process asymptotically converges to the convection-diffusion dynamics, ensuring that predictions are both grounded in real-world measurements and aligned with the fundamental physics governing pollution dispersion. To assess the performance of the system, we deployed 59 self-designed portable sensing devices in two cities, operating for 14 days to collect air pollution data. Compared to the second-best performing algorithm, our model achieved improvements of up to 89.12% in MAE, 82.30% in RMSE, and 25.00% in MAPE, with extensive evaluations demonstrating that STeP-Diff effectively captures the spatio-temporal dependencies in air pollution fields.

For precise, efficient, and safe drone landings, ground platforms should real-time, accurately locate descending drones and guide them to designated spots. While mmWave sensing combined with cameras improves localization accuracy, lower sampling frequency of traditional frame cameras compared to mmWave radar creates bottlenecks in system throughput. In this work, we upgrade traditional frame camera with event camera, a novel sensor that harmonizes in sampling frequency with mmWave radar within ground platform setup, and introduce mmE-Loc, a high-precision, low-latency ground localization system designed for precise drone landings. To fully exploit thetemporal consistencyandspatial complementaritybetween these two modalities, we propose two innovative modules:(i)the Consistency-instructed Collaborative Tracking module, which further leverages the drone's physical knowledge of periodic micro-motions and structure for accurate measurements extraction, and(ii)the Graph-informed Adaptive Joint Optimization module, which integrates drone motion information for efficient sensor fusion and drone localization. Extensive experiments (30+ hours) demonstrate that mmE-Loc attains 0.083$m$localization accuracy and 5.12$ms$end-to-end latency, outperforming four state-of-the-art methods by over 48% and 62%, respectively.

In disaster scenarios, establishing robust emergency communication networks is critical, and unmanned aerial vehicles (UAVs) offer a promising solution to rapidly restore connectivity. However, organizing UAVs to form multi-hop networks in large-scale dynamic environments presents significant challenges, including limitations in algorithmic scalability and the vast exploration space required for coordinated decision-making. To address these issues, we propose MRLMN, a novel framework that integrates multi-agent reinforcement learning (MARL) and large language models (LLMs) to jointly optimize UAV agents toward achieving optimal networking performance. The framework incorporates a grouping strategy with reward decomposition to enhance algorithmic scalability and balance decision-making across UAVs. In addition, behavioral constraints are applied to selected key UAVs to improve the robustness of the network. Furthermore, the framework integrates LLM agents, leveraging knowledge distillation to transfer their high-level decision-making capabilities to MARL agents. This enhances both the efficiency of exploration and the overall training process. In the distillation module, a Hungarian algorithm-based matching scheme is applied to align the decision outputs of the LLM and MARL agents and define the distillation loss. Extensive simulation results validate the effectiveness of our approach, demonstrating significant improvements in network performance over the MAPPO baseline and other comparison methods, including enhanced coverage and communication quality.

Log parsing is a prerequisite for log analysis. Recently, large language models (LLMs) have demonstrated high accuracy in log parsing. However, their frequent invocations incur substantial costs. To address this issue, some methods have turned to small language models (SLMs), which offer improved efficiency but suffer from reduced accuracy due to limited model capacity. To achieve both high accuracy and efficiency, we propose CSLParser, a collaborative log parsing framework using SLMs and LLMs. CSLParser delegates most log parsing tasks to SLMs and selectively invokes LLMs to correct parsing results generated by SLMs, thereby effectively reducing the invocation cost of LLMs while maintaining high accuracy. Specifically, to enhance the accuracy of SLMs, we propose a diversified sampling strategy to select diverse samples for training, enabling SLMs to effectively handle diverse log patterns. To efficiently invoke LLMs, we design a rule-based selection strategy to identify hard cases that are challenging for SLMs to correctly parse, which are subsequently corrected by LLMs. Additionally, we propose a dynamic template updating mechanism that merges similar templates based on structural and semantic information to further enhance parsing accuracy. Extensive experiments on public large-scale log datasets show that CSLParser outperforms state-of-the-art baselines in both accuracy and efficiency.

Log-based anomaly detection is a essential task for ensuring the reliability and performance of software systems. However, the performance of existing anomaly detection methods heavily relies on labeling, while labeling a large volume of logs is highly challenging. To address this issue, many approaches based on transfer learning and active learning have been proposed. Nevertheless, their effectiveness is hindered by issues such as the gap between source and target system data distributions and cold-start problems. In this paper, we propose LogAction, a novel log-based anomaly detection model based on active domain adaptation. LogAction integrates transfer learning and active learning techniques. On one hand, it uses labeled data from a mature system to train a base model, mitigating the cold-start issue in active learning. On the other hand, LogAction utilize free energy-based sampling and uncertainty-based sampling to select logs located at the distribution boundaries for manual labeling, thus addresses the data distribution gap in transfer learning with minimal human labeling efforts. Experimental results on six different combinations of datasets demonstrate that LogAction achieves an average 93.01% F1 score with only 2% of manual labels, outperforming some state-of-the-art methods by 26.28%. Website: https://logaction.github.io

Log-based fault diagnosis is essential for maintaining software system availability. However, existing fault diagnosis methods are built using a task-independent manner, which fails to bridge the gap between anomaly detection and root cause localization in terms of data form and diagnostic objectives, resulting in three major issues: 1) Diagnostic bias accumulates in the system; 2) System deployment relies on expensive monitoring data; 3) The collaborative relationship between diagnostic tasks is overlooked. Facing this problems, we propose a novel end-to-end log-based fault diagnosis method, Chimera, whose key idea is to achieve end-to-end fault diagnosis through bidirectional interaction and knowledge transfer between anomaly detection and root cause localization. Chimera is based on interactive multitask learning, carefully designing interaction strategies between anomaly detection and root cause localization at the data, feature, and diagnostic result levels, thereby achieving both sub-tasks interactively within a unified end-to-end framework. Evaluation on two public datasets and one industrial dataset shows that Chimera outperforms existing methods in both anomaly detection and root cause localization, achieving improvements of over 2.92%~5.00% and 19.01% ~ 37.09%, respectively. It has been successfully deployed in production, serving an industrial cloud platform.

Frequent software updates lead to log evolution, posing generalization challenges for current log anomaly detection. Traditional log anomaly detection research focuses on using small deep learning models (SMs), but these models inherently lack generalization due to their closed-world assumption. Large language models (LLMs) exhibit strong semantic understanding and generalization capabilities, making them promising for log anomaly detection. However, they suffer from computational inefficiencies. To balance efficiency and generalization, we propose a collaborative log anomaly detection scheme (CoorLog) that uses an adaptive coordinator to integrate SM and LLM. The coordinator determines if incoming logs have evolved. Non-evolved logs are routed to the SM, while evolved logs are directed to the LLM for detailed inference using the constructed Evol-CoT. To gradually adapt to evolution, we introduce the adaptive evolution mechanism (AEM), which updates the coordinator to redirect evolved logs identified by the LLM to the SM. Simultaneously, the SM is fine-tuned to inherit the LLM’s judgment on these logs. Extensive experiments on real-world datasets demonstrate that CoorLog achieves superior F1-scores in both intra-version and inter-version anomaly detection. Additionally, CoorLog reduces processing time by 91.63% and token consumption by 85.59% compared to using an LLM alone.