Wireless communication empowers online scheduling of partially-observable transportation multi-robot systems in a smart factory

Achieving agile and reconfigurable production flows in smart factories depends on online multi-robot task assignment (MRTA), which requires online collision-free and congestion-free route scheduling of transportation multi-robot systems (T-MRS), e.g., collaborative automatic guided vehicles (AGVs). Due to the real-time operational requirements and dynamic interactions between T-MRS and production MRS, online scheduling under partial observability in dynamic factory environments remains a significant and under-explored challenge. This paper proposes a novel communication-enabled online scheduling framework that explicitly couples wireless machine-to-machine (M2M) networking with route scheduling, enabling AGVs to exchange intention information, e.g., planned routes, to overcome partial observations and assist complex computation of online scheduling. Specifically, we determine intelligent AGVs' intention and sensor data as new M2M traffic and tailor the retransmission-free multi-link transmission networking to meet real-time operation demands. This scheduling-oriented networking is then integrated with a simulated annealing-based MRTA scheme and a congestion-aware A*-based route scheduling method. The integrated communication and scheduling scheme allows AGVs to dynamically adjust collision-free and congestion-free routes with reduced computational overhead. Numerical experiments shows the impacts from wireless communication on the performance of T-MRS and suggest that the proposed integrated scheme significantly enhances scheduling efficiency compared to other baselines, even under high AGV load conditions and limited channel resources. Moreover, the results reveal that the scheduling-oriented wireless M2M communication design fundamentally differs from human-to-human communications, implying new technological opportunities in a wireless networked smart factory.

Coverage Performance Analysis of FAS-enhanced LoRa Wide Area Networks under both Co-SF and Inter-SF Interference

This paper presents an analytical framework for evaluating the coverage performance of the fluid antenna system (FAS)-enhanced LoRa wide-area networks (LoRaWANs). We investigate the effects of large-scale pathloss in LoRaWAN, small-scale fading characterized by FAS, and dense interference (i.e., collision in an ALOHA-based mechanism) arising from randomly deployed end devices (EDs). Both co-spreading factor (co-SF) interference (with the same SF) and inter-SF interference (with different SFs) are introduced into the network, and their differences in physical characteristics are also considered in the analysis. Additionally, simple yet accurate statistical approximations of the FAS channel envelope and power are derived using the extreme-value theorem. Based on the approximated channel expression, the theoretical coverage probability of the proposed FAS-enhanced LoRaWAN is derived. Numerical results validate our analytical approximations by exhibiting close agreement with the exact correlation model. Notably, it is revealed that a FAS with a normalized aperture of 1 times 1 can greatly enhance network performance, in terms of both ED numbers and coverage range.

HeterCSI: Channel-Adaptive Heterogeneous CSI Pretraining Framework for Generalized Wireless Foundation Models

Wireless foundation models promise transformative capabilities for channel state information (CSI) processing across diverse 6G network applications, yet face fundamental challenges due to the inherent dual heterogeneity of CSI across both scale and scenario dimensions. However, current pretraining approaches either constrain inputs to fixed dimensions or isolate training by scale, limiting the generalization and scalability of wireless foundation models. In this paper, we propose HeterCSI, a channel-adaptive pretraining framework that reconciles training efficiency with robust cross-scenario generalization via a new understanding of gradient dynamics in heterogeneous CSI pretraining. Our key insight reveals that CSI scale heterogeneity primarily causes destructive gradient interference, while scenario diversity actually promotes constructive gradient alignment when properly managed. Specifically, we formulate heterogeneous CSI batch construction as a partitioning optimization problem that minimizes zero-padding overhead while preserving scenario diversity. To solve this, we develop a scale-aware adaptive batching strategy that aligns CSI samples of similar scales, and design a double-masking mechanism to isolate valid signals from padding artifacts. Extensive experiments on 12 datasets demonstrate that HeterCSI establishes a generalized foundation model without scenario-specific finetuning, achieving superior average performance over full-shot baselines. Compared to the state-of-the-art zero-shot benchmark WiFo, it reduces NMSE by 7.19 dB, 4.08 dB, and 5.27 dB for CSI reconstruction, time-domain, and frequency-domain prediction, respectively. The proposed HeterCSI framework also reduces training latency by 53% compared to existing approaches while improving generalization performance by 1.53 dB on average.

Advancing LLM-Based Security Automation with Customized Group Relative Policy Optimization for Zero-Touch Networks

Zero-Touch Networks (ZTNs) represent a transformative paradigm toward fully automated and intelligent network management, providing the scalability and adaptability required for the complexity of sixth-generation (6G) networks. However, the distributed architecture, high openness, and deep heterogeneity of 6G networks expand the attack surface and pose unprecedented security challenges. To address this, security automation aims to enable intelligent security management across dynamic and complex environments, serving as a key capability for securing 6G ZTNs. Despite its promise, implementing security automation in 6G ZTNs presents two primary challenges: 1) automating the lifecycle from security strategy generation to validation and update under real-world, parallel, and adversarial conditions, and 2) adapting security strategies to evolving threats and dynamic environments. This motivates us to propose SecLoop and SA-GRPO. SecLoop constitutes the first fully automated framework that integrates large language models (LLMs) across the entire lifecycle of security strategy generation, orchestration, response, and feedback, enabling intelligent and adaptive defenses in dynamic network environments, thus tackling the first challenge. Furthermore, we propose SA-GRPO, a novel security-aware group relative policy optimization algorithm that iteratively refines security strategies by contrasting group feedback collected from parallel SecLoop executions, thereby addressing the second challenge. Extensive real-world experiments on five benchmarks, including 11 MITRE ATT&CK processes and over 20 types of attacks, demonstrate the superiority of the proposed SecLoop and SA-GRPO. We will release our platform to the community, facilitating the advancement of security automation towards next generation communications.

A Novel Indicator for Quantifying and Minimizing Information Utility Loss of Robot Teams

The timely exchange of information among robots within a team is vital, but it can be constrained by limited wireless capacity. The inability to deliver information promptly can result in estimation errors that impact collaborative efforts among robots. In this paper, we propose a new metric termed Loss of Information Utility (LoIU) to quantify the freshness and utility of information critical for cooperation. The metric enables robots to prioritize information transmissions within bandwidth constraints. We also propose the estimation of LoIU using belief distributions and accordingly optimize both transmission schedule and resource allocation strategy for device-to-device transmissions to minimize the time-average LoIU within a robot team. A semi-decentralized Multi-Agent Deep Deterministic Policy Gradient framework is developed, where each robot functions as an actor responsible for scheduling transmissions among its collaborators while a central critic periodically evaluates and refines the actors in response to mobility and interference. Simulations validate the effectiveness of our approach, demonstrating an enhancement of information freshness and utility by 98%, compared to alternative methods.

Convergence-Privacy-Fairness Trade-Off in Personalized Federated Learning

Personalized federated learning (PFL), e.g., the renowned Ditto, strikes a balance between personalization and generalization by conducting federated learning (FL) to guide personalized learning (PL). While FL is unaffected by personalized model training, in Ditto, PL depends on the outcome of the FL. However, the clients' concern about their privacy and consequent perturbation of their local models can affect the convergence and (performance) fairness of PL. This paper presents PFL, called DP-Ditto, which is a non-trivial extension of Ditto under the protection of differential privacy (DP), and analyzes the trade-off among its privacy guarantee, model convergence, and performance distribution fairness. We also analyze the convergence upper bound of the personalized models under DP-Ditto and derive the optimal number of global aggregations given a privacy budget. Further, we analyze the performance fairness of the personalized models, and reveal the feasibility of optimizing DP-Ditto jointly for convergence and fairness. Experiments validate our analysis and demonstrate that DP-Ditto can surpass the DP-perturbed versions of the state-of-the-art PFL models, such as FedAMP, pFedMe, APPLE, and FedALA, by over 32.71% in fairness and 9.66% in accuracy.

Two Is Better Than One: Rotations Scale LoRAs

Scaling Low-Rank Adaptation (LoRA)-based Mixture-of-Experts (MoE) facilitates large language models (LLMs) to efficiently adapt to diverse tasks. However, traditional gating mechanisms that route inputs to the best experts may fundamentally hinder LLMs' scalability, leading to poor generalization and underfitting issues. We identify that the root cause lies in the restricted expressiveness of existing weighted-sum mechanisms, both within and outside the convex cone of LoRA representations. This motivates us to propose RadarGate, a novel geometrically inspired gating method that introduces rotational operations of LoRAs representations to boost the expressiveness and facilitate richer feature interactions among multiple LoRAs for scalable LLMs. Specifically, we first fuse each LoRA representation to other LoRAs using a learnable component and then feed the output to a rotation matrix. This matrix involves learnable parameters that define the relative angular relationship between LoRA representations. Such a simple yet effective mechanism provides an extra degree of freedom, facilitating the learning of cross-LoRA synergies and properly tracking the challenging poor generalization and underfitting issues as the number of LoRA grows. Extensive experiments on 6 public benchmarks across 21 tasks show the effectiveness of our RadarGate for scaling LoRAs. We also provide valuable insights, revealing that the rotations to each pair of representations are contrastive, encouraging closer alignment of semantically similar representations during geometrical transformation while pushing distance ones further apart. We will release our code to the community.

Adaptive Federated LoRA in Heterogeneous Wireless Networks with Independent Sampling

Federated LoRA has emerged as a promising technique for efficiently fine-tuning large language models (LLMs) on distributed devices by reducing the number of trainable parameters. However, existing approaches often inadequately overlook the theoretical and practical implications of system and data heterogeneity, thereby failing to optimize the overall training efficiency, particularly in terms of wall-clock time. In this paper, we propose an adaptive federated LoRA strategy with independent client sampling to minimize the convergence wall-clock time of federated fine-tuning under both computation and communication heterogeneity. We first derive a new convergence bound for federated LoRA with arbitrary and independent client sampling, notably without requiring the stringent bounded gradient assumption. Then, we introduce an adaptive bandwidth allocation scheme that accounts for heterogeneous client resources and system bandwidth constraints. Based on the derived theory, we formulate and solve a non-convex optimization problem to jointly determine the LoRA sketching ratios and sampling probabilities, aiming to minimize wall-clock convergence time. An efficient and low-complexity algorithm is developed to approximate the solution. Finally, extensive experiments demonstrate that our approach significantly reduces wall-clock training time compared to state-of-the-art methods across various models and datasets.

220 GHz RIS-Aided Multi-user Terahertz Communication System: Prototype Design and Over-the-Air Experimental Trials

Terahertz (THz) communication technology is regarded as a promising enabler for achieving ultra-high data rate transmission in next-generation communication systems. To mitigate the high path loss in THz systems, the transmitting beams are typically narrow and highly directional, which makes it difficult for a single beam to serve multiple users simultaneously. To address this challenge, reconfigurable intelligent surfaces (RIS), which can dynamically manipulate the wireless propagation environment, have been integrated into THz communication systems to extend coverage. Existing works mostly remain theoretical analysis and simulation, while prototype validation of RIS-assisted THz communication systems is scarce. In this paper, we designed a liquid crystal-based RIS operating at 220 GHz supporting both single-user and multi-user communication scenarios, followed by a RIS-aided THz communication system prototype. To enhance the system performance, we developed a beamforming method including a real-time power feedback control, which is compatible with both single-beam and multibeam modes. To support simultaneous multi-user transmission, we designed an OFDM-based resource allocation scheme. In our experiments, the received power gain with RIS is no less than 10 dB in the single-beam mode, and no less than 5 dB in the multi-beam mode. With the assistance of RIS, the achievable rate of the system could reach 2.341 Gbps with 3 users sharing 400 MHz bandwidth and the bit error rate (BER) of the system decreased sharply. Finally, an image transmission experiment was conducted to vividly show that the receiver could recover the transmitted information correctly with the help of RIS. The experimental results also demonstrated that the received signal quality was enhanced through power feedback adjustments.

On Performance of LoRa Fluid Antenna Systems

This paper advocates a fluid antenna system (FAS) assisting long-range communication (LoRa-FAS) for Internet-of-Things (IoT) applications. Our focus is on pilot sequence overhead and placement for FAS. Specifically, we consider embedding pilot sequences within symbols to reduce the equivalent symbol error rate (SER), leveraging the fact that the pilot sequences do not convey source information and correlation detection at the LoRa receiver needs not be performed across the entire symbol. We obtain closed-form approximations for the probability density function (PDF) and cumulative distribution function (CDF) of the FAS channel, assuming perfect channel state information (CSI). Moreover, the approximate SER, hence the bit error rate (BER), of the proposed LoRa-FAS is derived. Simulation results indicate that substantial SER gains can be achieved by FAS within the LoRa framework, even with a limited size of FAS. Furthermore, our analytical results align well with that of the Clarke's exact spatial correlation model. Finally, the correlation factor for the block correlation model should be selected as the proportion of the exact correlation matrix's eigenvalues greater than $1$.