Effective sensor data processing is critical for cyber-physical and IoT systems but often requires specialized expertise. While Large Language Models (LLMs) show promise as autonomouscopilotsfor sensor processing, their capabilities remain underexplored. We introduce SensorBench, the first comprehensive benchmark for evaluating LLMs across diverse real-world sensor datasets and tasks. SensorBench evaluates three paradigms for leveraging LLMs in sensing tasks: Tool-Augmented Coding (TAC), Standalone Coding (SAC), and Direct Answer (DA). We evaluate 8 leading LLM variants, including 2 Large Reasoning Models (LRMs) and 2 domain-specific LLMs, providing a structured reference for absolute performance, latency, and resource requirements. Our analysis reveals that: (1) TAC significantly outperforms SAC and DA; (2) LLMs excel at simple tasks but consistently underperform domain experts on compositional tasks requiring parameter tuning and multi-step reasoning. (3) The reasoning mechanism introduced in LRMs does not yield substantial performance gains. To improve the performance, we explore four prompting strategies and fine-tuning approaches (using our newly released sensor-processing corpus). The results show that self-verification prompting proves most effective, outperforming other methods simultaneously in 48% of tasks, while fine-tuning yields marginal gains. Our analysis suggests that more sophisticated interaction frameworks, such as signal-level self-verification, may bridge the gap to human expert-level performance. This benchmark provides a foundation for evaluating and improving LLMs in sensing applications1.

Spatiotemporal reasoning plays a key role in Cyber-Physical Systems (CPS). Despite advances in Large Language Models (LLMs) and Large Reasoning Models (LRMs), their capacity to reason about complex spatiotemporal signals remains underexplored. This paper proposes a hierarchical SpatioTemporal reAsoning benchmaRK, STARK, to systematically evaluate LLMs across three levels of reasoning complexity: state estimation (e.g., predicting field variables, localizing and tracking events in space and time), spatiotemporal reasoning over states (e.g., inferring spatial-temporal relationships), and world-knowledge-aware reasoning that integrates contextual and domain knowledge (e.g., intent prediction, landmark-aware navigation). We curate 26 distinct spatiotemporal tasks with diverse sensor modalities, comprising 14,552 challenges where models answer directly or by Python Code Interpreter. Evaluating 3 LRMs and 8 LLMs, we find LLMs achieve limited success in tasks requiring geometric reasoning (e.g., multilateration or triangulation), particularly as complexity increases. Surprisingly, LRMs show robust performance across tasks with various levels of difficulty, often competing or surpassing traditional first-principle-based methods. Our results show that in reasoning tasks requiring world knowledge, the performance gap between LLMs and LRMs narrows, with some LLMs even surpassing LRMs. However, the LRM o3 model continues to achieve leading performance across all evaluated tasks, a result attributed primarily to the larger size of the reasoning models. STARK motivates future innovations in model architectures and reasoning paradigms for intelligent CPS by providing a structured framework to identify limitations in the spatiotemporal reasoning of LLMs and LRMs.

Wearable devices like smartwatches and smart wristbands have gained substantial popularity in recent years. However, their small interfaces create inconvenience and limit computing functionality. To fill this gap, we propose ViWatch, which enables robust finger interactions under deployment variations, and relies on a single IMU sensor that is ubiquitous in COTS smartwatches. To this end, we design an unsupervised Siamese adversarial learning method. We built a real-time system on commodity smartwatches and tested it with over one hundred volunteers. Results show that the system accuracy is about 97% over a week. In addition, it is resistant to deployment variations such as different hand shapes, finger activity strengths, and smartwatch positions on the wrist. We also developed a number of mobile applications using our interactive system and conducted a user study where all participants preferred our un-supervised approach to supervised calibration. The demonstration of ViWatch is shown at https://youtu.be/N5-ggvy2qfI.

Recent years have seen the increasing attention and popularity of federated learning (FL), a distributed learning framework for privacy and data security. However, by its fundamental design, federated learning is inherently vulnerable to model poisoning attacks: a malicious client may submit the local updates to influence the weights of the global model. Therefore, detecting malicious clients against model poisoning attacks in federated learning is useful in safety-critical tasks.However, existing methods either fail to analyze potential malicious data or are computationally restrictive. To overcome these weaknesses, we propose a robust federated learning method where the central server learns a supervised anomaly detector using adversarial data generated from a variety of state-of-the-art poisoning attacks. The key idea of this powerful anomaly detector lies in a comprehensive understanding of the benign update through distinguishing it from the diverse malicious ones. The anomaly detector would then be leveraged in the process of federated learning to automate the removal of malicious updates (even from unforeseen attacks).Through extensive experiments, we demonstrate its effectiveness against backdoor attacks, where the attackers inject adversarial triggers such that the global model will make incorrect predictions on the poisoned samples. We have verified that our method can achieve 99.0% detection AUC scores while enjoying longevity as the model converges. Our method has also shown significant advantages over existing robust federated learning methods in all settings. Furthermore, our method can be easily generalized to incorporate newly-developed poisoning attacks, thus accommodating ever-changing adversarial learning environments.

We study the problem of learning similarity by using nonlinear embedding models (e.g., neural networks) from all possible pairs. This problem is well-known for its difficulty of training with the extreme number of pairs. For the special case of using linear embeddings, many studies have addressed this issue of handling all pairs by considering certain loss functions and developing efficient optimization algorithms. This paper aims to extend results for general nonlinear embeddings. First, we finish detailed derivations and provide clean formulations for efficiently calculating some building blocks of optimization algorithms such as function, gradient evaluation, and Hessian-vector product. The result enables the use of many optimization methods for extreme similarity learning with nonlinear embeddings. Second, we study some optimization methods in detail. Due to the use of nonlinear embeddings, implementation issues different from linear cases are addressed. In the end, some methods are shown to be highly efficient for extreme similarity learning with nonlinear embeddings.