Hongxin Zhang

Hongxin Zhang, Weihua Du, Jiaming Shan et al. · cmu, mit

In this work, we address challenging multi-agent cooperation problems with decentralized control, raw sensory observations, costly communication, and multi-objective tasks instantiated in various embodied environments. While previous research either presupposes a cost-free communication channel or relies on a centralized controller with shared observations, we harness the commonsense knowledge, reasoning ability, language comprehension, and text generation prowess of LLMs and seamlessly incorporate them into a cognitive-inspired modular framework that integrates with perception, memory, and execution. Thus building a Cooperative Embodied Language Agent CoELA, who can plan, communicate, and cooperate with others to accomplish long-horizon tasks efficiently. Our experiments on C-WAH and TDW-MAT demonstrate that CoELA driven by GPT-4 can surpass strong planning-based methods and exhibit emergent effective communication. Though current Open LMs like LLAMA-2 still underperform, we fine-tune a CoELA with data collected with our agents and show how they can achieve promising performance. We also conducted a user study for human-agent interaction and discovered that CoELA communicating in natural language can earn more trust and cooperate more effectively with humans. Our research underscores the potential of LLMs for future research in multi-agent cooperation. Videos can be found on the project website https://vis-www.cs.umass.edu/Co-LLM-Agents/.

Zhiqing Sun, Yikang Shen, Hongxin Zhang et al. · cmu

Supervised Fine-Tuning (SFT) on response demonstrations combined with Reinforcement Learning from Human Feedback (RLHF) constitutes a powerful paradigm for aligning LLM-based AI agents. However, a significant limitation of such an approach is its dependency on high-quality human annotations, making its application to intricate tasks challenging due to difficulties in obtaining consistent response demonstrations and in-distribution response preferences. This paper presents a novel approach, namely SALMON, to align base language models with minimal human supervision, using only a small set of human-defined principles, yet achieving superior performance. Central to our approach is an instructable reward model. Trained on synthetic preference data, this model can generate reward scores based on arbitrary human-defined principles. By merely adjusting these principles during the RL training phase, we gain full control over the preferences with the instructable reward model, subsequently influencing the behavior of the RL-trained policy models, and reducing the reliance on the collection of online human preferences. Applying our method to the LLaMA-2-70b base language model, we developed an AI assistant named Dromedary-2. With only 6 exemplars for in-context learning and 31 human-defined principles, Dromedary-2 significantly surpasses the performance of several state-of-the-art AI systems, including LLaMA-2-Chat-70b, on various benchmark datasets. We have open-sourced the code and model weights to encourage further research into aligning LLM-based AI agents with enhanced supervision efficiency, improved controllability, and scalable oversight.

Albert Lu, Hongxin Zhang, Yanzhe Zhang et al. · gatech

The limits of open-ended generative models are unclear, yet increasingly important. What causes them to succeed and what causes them to fail? In this paper, we take a prompt-centric approach to analyzing and bounding the abilities of open-ended generative models. We present a generic methodology of analysis with two challenging prompt constraint types: structural and stylistic. These constraint types are categorized into a set of well-defined constraints that are analyzable by a single prompt. We then systematically create a diverse set of simple, natural, and useful prompts to robustly analyze each individual constraint. Using the GPT-3 text-davinci-002 model as a case study, we generate outputs from our collection of prompts and analyze the model's generative failures. We also show the generalizability of our proposed method on other large models like BLOOM and OPT. Our results and our in-context mitigation strategies reveal open challenges for future research. We have publicly released our code at https://github.com/SALT-NLP/Bound-Cap-LLM.

Hongxin Zhang, Yanzhe Zhang, Ruiyi Zhang et al. · gatech

Demonstration-based learning has shown great potential in stimulating pretrained language models' ability under limited data scenario. Simply augmenting the input with some demonstrations can significantly improve performance on few-shot NER. However, why such demonstrations are beneficial for the learning process remains unclear since there is no explicit alignment between the demonstrations and the predictions. In this paper, we design pathological demonstrations by gradually removing intuitively useful information from the standard ones to take a deep dive of the robustness of demonstration-based sequence labeling and show that (1) demonstrations composed of random tokens still make the model a better few-shot learner; (2) the length of random demonstrations and the relevance of random tokens are the main factors affecting the performance; (3) demonstrations increase the confidence of model predictions on captured superficial patterns. We have publicly released our code at https://github.com/SALT-NLP/RobustDemo.

Omar Shaikh, Hongxin Zhang, William Held et al. · gatech

Generating a Chain of Thought (CoT) has been shown to consistently improve large language model (LLM) performance on a wide range of NLP tasks. However, prior work has mainly focused on logical reasoning tasks (e.g. arithmetic, commonsense QA); it remains unclear whether improvements hold for more diverse types of reasoning, especially in socially situated contexts. Concretely, we perform a controlled evaluation of zero-shot CoT across two socially sensitive domains: harmful questions and stereotype benchmarks. We find that zero-shot CoT reasoning in sensitive domains significantly increases a model's likelihood to produce harmful or undesirable output, with trends holding across different prompt formats and model variants. Furthermore, we show that harmful CoTs increase with model size, but decrease with improved instruction following. Our work suggests that zero-shot CoT should be used with caution on socially important tasks, especially when marginalized groups or sensitive topics are involved.

Bolin Lai, Hongxin Zhang, Miao Liu et al. · gatech

Persuasion modeling is a key building block for conversational agents. Existing works in this direction are limited to analyzing textual dialogue corpus. We argue that visual signals also play an important role in understanding human persuasive behaviors. In this paper, we introduce the first multimodal dataset for modeling persuasion behaviors. Our dataset includes 199 dialogue transcriptions and videos captured in a multi-player social deduction game setting, 26,647 utterance level annotations of persuasion strategy, and game level annotations of deduction game outcomes. We provide extensive experiments to show how dialogue context and visual signals benefit persuasion strategy prediction. We also explore the generalization ability of language models for persuasion modeling and the role of persuasion strategies in predicting social deduction game outcomes. Our dataset, code, and models can be found at https://persuasion-deductiongame.socialai-data.org.

Xiangye Lin, Hongxin Zhang, Ruxi Deng et al.

In this work, we study Cooperative Spatial Intelligence, the ability of decentralized embodied agents to coordinate effectively under dynamic environmental constraints across city-scale outdoor domains. We introduce Sentinel Challenge, a benchmark where multiple decentralized embodied agents must communicate in natural language to agree on a mutually safe and convenient meeting point within large, city-scale outdoor environments. Each agent must then navigate safely while avoiding dynamic sentinels patrolling the area, using a tool that provides coarse spatial information. To address this, we propose CoSaR (Cooperative Spatial Reasoning and Planning), a framework that bridges the high-level communication and planning abilities of foundation models with the precision of classical spatial navigation algorithms. CoSaR enables agents to exchange situational updates, reason over evolving spatial constraints, and collaboratively replan trajectories. Evaluated across 14 city-level scenes with 3-5 agents, CoSaR consistently leads to faster gathering, shorter path lengths, and improved safety. Our results demonstrate that integrating dynamic communication with spatial reasoning is essential for robust multi-agent cooperation. By formalizing this new setting and providing a scalable benchmark, we aim to build a foundation for advancing cooperative spatial intelligence in embodied multi-agent systems. Code and challenge are available at https://github.com/UMass-Embodied-AGI/Sentinel.

Chunru Lin, Hongxin Zhang, Fenghao Yu et al.

The ability to reason, adapt, and creatively solve problems under unexpected challenges is essential for robots operating in real-world environments. However, current robotic benchmarks primarily emphasize skill-level execution and provide limited insight into such cognitive reasoning capabilities. We introduce RoboWits, a bi-manual robotic benchmark designed to systematically evaluate cognitive reasoning, creative tool use, and robustness to unexpected conditions. To enable scalable construction of high-quality reasoning-centric unexpected scenarios, we propose an automated task generation pipeline formulated as a multi-agent cooperative framework, comprising agents for seed task generation and verification, metric generation, scene generation, and task mutation. Using the pipeline, we curated 30 diverse seed tasks and 208 tasks with mutations and graded difficulty across geometry, material, and assembly-based reasoning. We benchmark popular robot policies, pre-trained VLAs, and oracle-state planners. Our results reveal a significant performance gap: while pre-trained VLAs exhibit preliminary success on seed tasks after single-task fine-tuning, they struggle to perform on mutated tasks, implying their brittleness in manipulation tasks requiring reasoning, strategy adaptation, and robustness to deceptive or constrained environments. Project page is available at https://umass-embodied-agi.github.io/RoboWits.

Weihua Du, Qiushi Lyu, Jiaming Shan et al. · cmu

We introduce Constrained Human-AI Cooperation (CHAIC), an inclusive embodied social intelligence challenge designed to test social perception and cooperation in embodied agents. In CHAIC, the goal is for an embodied agent equipped with egocentric observations to assist a human who may be operating under physical constraints -- e.g., unable to reach high places or confined to a wheelchair -- in performing common household or outdoor tasks as efficiently as possible. To achieve this, a successful helper must: (1) infer the human's intents and constraints by following the human and observing their behaviors (social perception), and (2) make a cooperative plan tailored to the human partner to solve the task as quickly as possible, working together as a team (cooperative planning). To benchmark this challenge, we create four new agents with real physical constraints and eight long-horizon tasks featuring both indoor and outdoor scenes with various constraints, emergency events, and potential risks. We benchmark planning- and learning-based baselines on the challenge and introduce a new method that leverages large language models and behavior modeling. Empirical evaluations demonstrate the effectiveness of our benchmark in enabling systematic assessment of key aspects of machine social intelligence. Our benchmark and code are publicly available at https://github.com/UMass-Embodied-AGI/CHAIC.

Kuan Dai, Hongxin Zhang, Sheng Zhong et al.

The rapid proliferation of drones requires balancing innovation with regulation. To address security and privacy concerns, techniques for drone detection have attracted significant attention.Passive solutions, such as frame camera-based systems, offer versatility and energy efficiency under typical conditions but are fundamentally constrained by their operational principles in scenarios involving fast-moving targets or adverse illumination.Inspired by biological vision, event cameras asynchronously detect per-pixel brightness changes, offering high dynamic range and microsecond-level responsiveness that make them uniquely suited for drone detection in conditions beyond the reach of conventional frame-based cameras.However, the design of most existing event-based solutions assumes a static camera, greatly limiting their applicability to moving carriers--such as quadrupedal robots or unmanned ground vehicles--during field operations.In this paper, we introduce a real-time drone detection system designed for deployment on moving carriers. The system utilizes a spinning event-based camera, providing a 360° horizontal field of view and enabling bearing estimation of detected drones. A key contribution is a novel image-like event representation that operates without motion compensation, coupled with a lightweight neural network architecture for efficient spatiotemporal learning. Implemented on an onboard Jetson Orin NX, the system can operate in real time. Outdoor experimental results validate reliable detection with a mean angular error below 2° under challenging conditions, underscoring its suitability for real-world surveillance applications. We will open-source our complete pipeline to support future research.

Qinhong Zhou, Hongxin Zhang, Xiangye Lin et al.

The rapid progress in AI and Robotics may lead to a profound societal transformation, as humans and robots begin to coexist within shared communities, introducing both opportunities and challenges. To explore this future, we present Virtual Community-an open-world platform for humans, robots, and society-built on a universal physics engine and grounded in real-world 3D scenes. With Virtual Community, we aim to study embodied social intelligence at scale: 1) How robots can intelligently cooperate or compete; 2) How humans develop social relations and build community; 3) More importantly, how intelligent robots and humans can co-exist in an open world. To support these, Virtual Community features: 1) An open-source multi-agent physics simulator that supports robots, humans, and their interactions within a society; 2) A large-scale, real-world aligned community generation pipeline, including vast outdoor space, diverse indoor scenes, and a community of grounded agents with rich characters and appearances. Leveraging Virtual Community, we propose two novel challenges. The Community Planning Challenge evaluates multi-agent reasoning and planning ability in open-world settings, such as cooperating to help agents with daily activities and efficiently connecting other agents. The Community Robot Challenge requires multiple heterogeneous robots to collaborate in solving complex open-world tasks. We evaluate various baselines on these tasks and demonstrate the challenges in both high-level open-world task planning and low-level cooperation controls. We hope that Virtual Community will unlock further study of human-robot coexistence within open-world environments.

Hongjia Wu, Shuai Zhou, Hongxin Zhang et al.

While Large Language Models (LLMs) demonstrate remarkable proficiency in semantic understanding, they often struggle to ensure structural consistency and reasoning reliability in complex decision-making tasks that demand rigorous logic. Although classical decision theories, such as the Analytic Hierarchy Process (AHP), offer systematic rational frameworks, their construction relies heavily on labor-intensive domain expertise, creating an "expert bottleneck" that hinders scalability in general scenarios. To bridge the gap between the generalization capabilities of LLMs and the rigor of decision theory, we propose Doc2AHP, a novel structured inference framework guided by AHP principles. Eliminating the need for extensive annotated data or manual intervention, our approach leverages the structural principles of AHP as constraints to direct the LLM in a constrained search within the unstructured document space, thereby enforcing the logical entailment between parent and child nodes. Furthermore, we introduce a multi-agent weighting mechanism coupled with an adaptive consistency optimization strategy to ensure the numerical consistency of weight allocation. Empirical results demonstrate that Doc2AHP not only empowers non-expert users to construct high-quality decision models from scratch but also significantly outperforms direct generative baselines in both logical completeness and downstream task accuracy.

Hongxin Zhang, Zeyuan Wang, Qiushi Lyu et al.

In this paper, we investigate the problem of embodied multi-agent cooperation, where decentralized agents must cooperate given only egocentric views of the world. To effectively plan in this setting, in contrast to learning world dynamics in a single-agent scenario, we must simulate world dynamics conditioned on an arbitrary number of agents' actions given only partial egocentric visual observations of the world. To address this issue of partial observability, we first train generative models to estimate the overall world state given partial egocentric observations. To enable accurate simulation of multiple sets of actions on this world state, we then propose to learn a compositional world model for multi-agent cooperation by factorizing the naturally composable joint actions of multiple agents and compositionally generating the video conditioned on the world state. By leveraging this compositional world model, in combination with Vision Language Models to infer the actions of other agents, we can use a tree search procedure to integrate these modules and facilitate online cooperative planning. We evaluate our methods on three challenging benchmarks with 2-4 agents. The results show our compositional world model is effective and the framework enables the embodied agents to cooperate efficiently with different agents across various tasks and an arbitrary number of agents, showing the promising future of our proposed methods. More videos can be found at https://umass-embodied-agi.github.io/COMBO/.

Haoyu Zhen, Qiao Sun, Hongxin Zhang et al.

This paper presents an effective approach for learning novel 4D embodied world models, which predict the dynamic evolution of 3D scenes over time in response to an embodied agent's actions, providing both spatial and temporal consistency. We propose to learn a 4D world model by training on RGB-DN (RGB, Depth, and Normal) videos. This not only surpasses traditional 2D models by incorporating detailed shape, configuration, and temporal changes into their predictions, but also allows us to effectively learn accurate inverse dynamic models for an embodied agent. Specifically, we first extend existing robotic manipulation video datasets with depth and normal information leveraging off-the-shelf models. Next, we fine-tune a video generation model on this annotated dataset, which jointly predicts RGB-DN (RGB, Depth, and Normal) for each frame. We then present an algorithm to directly convert generated RGB, Depth, and Normal videos into a high-quality 4D scene of the world. Our method ensures temporal and spatial coherence in 4D scene predictions from embodied scenarios, enables novel view synthesis for embodied environments, and facilitates policy learning that significantly outperforms those derived from prior video-based world models.

Qinhong Zhou, Sunli Chen, Yisong Wang et al. · cmu

Recent advances in high-fidelity virtual environments serve as one of the major driving forces for building intelligent embodied agents to perceive, reason and interact with the physical world. Typically, these environments remain unchanged unless agents interact with them. However, in real-world scenarios, agents might also face dynamically changing environments characterized by unexpected events and need to rapidly take action accordingly. To remedy this gap, we propose a new simulated embodied benchmark, called HAZARD, specifically designed to assess the decision-making abilities of embodied agents in dynamic situations. HAZARD consists of three unexpected disaster scenarios, including fire, flood, and wind, and specifically supports the utilization of large language models (LLMs) to assist common sense reasoning and decision-making. This benchmark enables us to evaluate autonomous agents' decision-making capabilities across various pipelines, including reinforcement learning (RL), rule-based, and search-based methods in dynamically changing environments. As a first step toward addressing this challenge using large language models, we further develop an LLM-based agent and perform an in-depth analysis of its promise and challenge of solving these challenging tasks. HAZARD is available at https://vis-www.cs.umass.edu/hazard/.

Yuncong Yang, Han Yang, Jiachen Zhou et al.

Constructing compact and informative 3D scene representations is essential for effective embodied exploration and reasoning, especially in complex environments over extended periods. Existing representations, such as object-centric 3D scene graphs, oversimplify spatial relationships by modeling scenes as isolated objects with restrictive textual relationships, making it difficult to address queries requiring nuanced spatial understanding. Moreover, these representations lack natural mechanisms for active exploration and memory management, hindering their application to lifelong autonomy. In this work, we propose 3D-Mem, a novel 3D scene memory framework for embodied agents. 3D-Mem employs informative multi-view images, termed Memory Snapshots, to represent the scene and capture rich visual information of explored regions. It further integrates frontier-based exploration by introducing Frontier Snapshots-glimpses of unexplored areas-enabling agents to make informed decisions by considering both known and potential new information. To support lifelong memory in active exploration settings, we present an incremental construction pipeline for 3D-Mem, as well as a memory retrieval technique for memory management. Experimental results on three benchmarks demonstrate that 3D-Mem significantly enhances agents' exploration and reasoning capabilities in 3D environments, highlighting its potential for advancing applications in embodied AI.

Tong Zhang, Hong Guo, Shuangzhou Yan et al.

We present FatigueFormer, a semi-end-to-end framework that deliberately combines saliency-guided feature separation with deep temporal modeling to learn interpretable and generalizable muscle fatigue dynamics from surface electromyography (sEMG). Unlike prior approaches that struggle to maintain robustness across varying Maximum Voluntary Contraction (MVC) levels due to signal variability and low SNR, FatigueFormer employs parallel Transformer-based sequence encoders to separately capture static and temporal feature dynamics, fusing their complementary representations to improve performance stability across low- and high-MVC conditions. Evaluated on a self-collected dataset spanning 30 participants across four MVC levels (20-80%), it achieves state-of-the-art accuracy and strong generalization under mild-fatigue conditions. Beyond performance, FatigueFormer enables attention-based visualization of fatigue dynamics, revealing how feature groups and time windows contribute differently across varying MVC levels, offering interpretable insight into fatigue progression.

Ruihuang Li, Caijin Zhou, Shoujian Zheng et al. · tencent-ai

Intelligent game creation represents a transformative advancement in game development, utilizing generative artificial intelligence to dynamically generate and enhance game content. Despite notable progress in generative models, the comprehensive synthesis of high-quality game assets, including both images and videos, remains a challenging frontier. To create high-fidelity game content that simultaneously aligns with player preferences and significantly boosts designer efficiency, we present Hunyuan-Game, an innovative project designed to revolutionize intelligent game production. Hunyuan-Game encompasses two primary branches: image generation and video generation. The image generation component is built upon a vast dataset comprising billions of game images, leading to the development of a group of customized image generation models tailored for game scenarios: (1) General Text-to-Image Generation. (2) Game Visual Effects Generation, involving text-to-effect and reference image-based game visual effect generation. (3) Transparent Image Generation for characters, scenes, and game visual effects. (4) Game Character Generation based on sketches, black-and-white images, and white models. The video generation component is built upon a comprehensive dataset of millions of game and anime videos, leading to the development of five core algorithmic models, each targeting critical pain points in game development and having robust adaptation to diverse game video scenarios: (1) Image-to-Video Generation. (2) 360 A/T Pose Avatar Video Synthesis. (3) Dynamic Illustration Generation. (4) Generative Video Super-Resolution. (5) Interactive Game Video Generation. These image and video generation models not only exhibit high-level aesthetic expression but also deeply integrate domain-specific knowledge, establishing a systematic understanding of diverse game and anime art styles.

Hongxin Zhang, Zheyuan Zhang, Zeyuan Wang et al.

We introduce Ella, an embodied social agent capable of lifelong learning within a community in a 3D open world, where agents accumulate experiences and acquire knowledge through everyday visual observations and social interactions. At the core of Ella's capabilities is a structured, long-term multimodal memory system that stores, updates, and retrieves information effectively. It consists of a name-centric semantic memory for organizing acquired knowledge and a spatiotemporal episodic memory for capturing multimodal experiences. By integrating this lifelong memory system with foundation models, Ella retrieves relevant information for decision-making, plans daily activities, builds social relationships, and evolves autonomously while coexisting with other intelligent beings in the open world. We conduct capability-oriented evaluations in a dynamic 3D open world where 15 agents engage in social activities for days and are assessed with a suite of unseen controlled evaluations. Experimental results show that Ella can influence, lead, and cooperate with other agents well to achieve goals, showcasing its ability to learn effectively through observation and social interaction. Our findings highlight the transformative potential of combining structured memory systems with foundation models for advancing embodied intelligence. More videos can be found at https://umass-embodied-agi.github.io/Ella/.

Yinlong Bai, Hongxin Zhang, Sheng Zhong et al.

Recent advancements in 3D Gaussian Splatting (3DGS) have made a significant impact on rendering and reconstruction techniques. Current research predominantly focuses on improving rendering performance and reconstruction quality using high-performance desktop GPUs, largely overlooking applications for embedded platforms like micro air vehicles (MAVs). These devices, with their limited computational resources and memory, often face a trade-off between system performance and reconstruction quality. In this paper, we improve existing methods in terms of GPU memory usage while enhancing rendering quality. Specifically, to address redundant 3D Gaussian primitives in SLAM, we propose merging them in voxel space based on geometric similarity. This reduces GPU memory usage without impacting system runtime performance. Furthermore, rendering quality is improved by initializing 3D Gaussian primitives via Patch-Grid (PG) point sampling, enabling more accurate modeling of the entire scene. Quantitative and qualitative evaluations on publicly available datasets demonstrate the effectiveness of our improvements.

Hongjia Wu, Hongxin Zhang, Wei Chen et al.

Various industries have produced a large number of documents such as industrial plans, technical guidelines, and regulations that are structurally complex and content-wise fragmented. This poses significant challenges for experts and decision-makers in terms of retrieval and understanding. Although existing LLM-based Retrieval-Augmented Generation methods can provide context-related suggestions, they lack quantitative weighting and traceable reasoning paths, making it difficult to offer multi-level and transparent decision support. To address this issue, this paper proposes the RAD method, which integrates Multi-Criteria Decision Making with the semantic understanding capabilities of LLMs. The method automatically extracts key criteria from industry documents, builds a weighted hierarchical decision model, and generates structured reports under model guidance. The RAD framework introduces explicit weight assignment and reasoning chains in decision generation to ensure accuracy, completeness, and traceability. Experiments show that in various decision-making tasks, the decision reports generated by RAD significantly outperform existing methods in terms of detail, rationality, and structure, demonstrating its application value and potential in complex decision support scenarios.

Zhiqing Sun, Yikang Shen, Qinhong Zhou et al.

Recent AI-assistant agents, such as ChatGPT, predominantly rely on supervised fine-tuning (SFT) with human annotations and reinforcement learning from human feedback (RLHF) to align the output of large language models (LLMs) with human intentions, ensuring they are helpful, ethical, and reliable. However, this dependence can significantly constrain the true potential of AI-assistant agents due to the high cost of obtaining human supervision and the related issues on quality, reliability, diversity, self-consistency, and undesirable biases. To address these challenges, we propose a novel approach called SELF-ALIGN, which combines principle-driven reasoning and the generative power of LLMs for the self-alignment of AI agents with minimal human supervision. Our approach encompasses four stages: first, we use an LLM to generate synthetic prompts, and a topic-guided method to augment the prompt diversity; second, we use a small set of human-written principles for AI models to follow, and guide the LLM through in-context learning from demonstrations (of principles application) to produce helpful, ethical, and reliable responses to user's queries; third, we fine-tune the original LLM with the high-quality self-aligned responses so that the resulting model can generate desirable responses for each query directly without the principle set and the demonstrations anymore; and finally, we offer a refinement step to address the issues of overly-brief or indirect responses. Applying SELF-ALIGN to the LLaMA-65b base language model, we develop an AI assistant named Dromedary. With fewer than 300 lines of human annotations (including < 200 seed prompts, 16 generic principles, and 5 exemplars for in-context learning). Dromedary significantly surpasses the performance of several state-of-the-art AI systems, including Text-Davinci-003 and Alpaca, on benchmark datasets with various settings.

Liying Chi, Hongxin Zhang, Mingxiu Chen

Plenty of face detection and recognition methods have been proposed and got delightful results in decades. Common face recognition pipeline consists of: 1) face detection, 2) face alignment, 3) feature extraction, 4) similarity calculation, which are separated and independent from each other. The separated face analyzing stages lead the model redundant calculation and are hard for end-to-end training. In this paper, we proposed a novel end-to-end trainable convolutional network framework for face detection and recognition, in which a geometric transformation matrix was directly learned to align the faces, instead of predicting the facial landmarks. In training stage, our single CNN model is supervised only by face bounding boxes and personal identities, which are publicly available from WIDER FACE \cite{Yang2016} dataset and CASIA-WebFace \cite{Yi2014} dataset. Tested on Face Detection Dataset and Benchmark (FDDB) \cite{Jain2010} dataset and Labeled Face in the Wild (LFW) \cite{Huang2007} dataset, we have achieved 89.24\% recall for face detection task and 98.63\% verification accuracy for face recognition task simultaneously, which are comparable to state-of-the-art results.