Yishu Li

Jingyu Zhang, Jacky Wai Keung, Yan Xiao et al.

Adversarial attacks play a pivotal role in testing and improving the reliability of deep learning (DL) systems. Existing literature has demonstrated that subtle perturbations to the input can elicit erroneous outcomes, thereby substantially compromising the security of DL systems. This has emerged as a critical concern in the development of DL-based safety-critical systems like Autonomous Driving Systems (ADSs). The focus of existing adversarial attack methods on End-to-End (E2E) ADSs has predominantly centered on misbehaviors of steering angle, which overlooks speed-related controls or imperceptible perturbations. To address these challenges, we introduce UniAda, a multi-objective white-box attack technique with a core function that revolves around crafting an image-agnostic adversarial perturbation capable of simultaneously influencing both steering and speed controls. UniAda capitalizes on an intricately designed multi-objective optimization function with the Adaptive Weighting Scheme (AWS), enabling the concurrent optimization of diverse objectives. Validated with both simulated and real-world driving data, UniAda outperforms five benchmarks across two metrics, inducing steering and speed deviations from 3.54 degrees to 29 degrees and 11 km per hour to 22 km per hour on average. This systematic approach establishes UniAda as a proven technique for adversarial attacks on modern DL-based E2E ADSs.

Wang Zhao, Jiachen Liu, Sheng Zhang et al.

This paper presents a generalizable 3D plane detection and reconstruction framework named MonoPlane. Unlike previous robust estimator-based works (which require multiple images or RGB-D input) and learning-based works (which suffer from domain shift), MonoPlane combines the best of two worlds and establishes a plane reconstruction pipeline based on monocular geometric cues, resulting in accurate, robust and scalable 3D plane detection and reconstruction in the wild. Specifically, we first leverage large-scale pre-trained neural networks to obtain the depth and surface normals from a single image. These monocular geometric cues are then incorporated into a proximity-guided RANSAC framework to sequentially fit each plane instance. We exploit effective 3D point proximity and model such proximity via a graph within RANSAC to guide the plane fitting from noisy monocular depths, followed by image-level multi-plane joint optimization to improve the consistency among all plane instances. We further design a simple but effective pipeline to extend this single-view solution to sparse-view 3D plane reconstruction. Extensive experiments on a list of datasets demonstrate our superior zero-shot generalizability over baselines, achieving state-of-the-art plane reconstruction performance in a transferring setting. Our code is available at https://github.com/thuzhaowang/MonoPlane .

Yifei Wang, Jacky Keung, Xiaoxue Ma et al.

Accurate requirement-to-code traceability is crucial for software maintenance. However, existing IR- and embedding-based methods are heavily dependent on lexical similarity, often yielding incomplete or inconsistent links across projects and languages and incurring high cost from long-context retrieval and prompting. This paper presents R2Code, an LLM-based semantic traceability framework designed to improve trace link accuracy while reducing inference cost. R2Code integrates three components: 1) a decomposition-enhanced Bidirectional Alignment Network (BAN) that aligns four-layer requirement semantics with corresponding code structures to support cross-level semantic matching; 2) a Self-Reflective Consistency Verification (SRCV) module that conducts explanation-guided consistency checking to calibrate link reliability; and 3) a Dynamic Context-Adaptive Retrieval (DCAR) mechanism that adjusts retrieval granularity and filters contexts using semantic-overlap weighting for efficient context utilization. Experiments on five public datasets spanning multiple domains and two programming languages demonstrate that R2Code consistently outperforms the strongest baselines, achieving an average F1 gain of 7.4%, while reducing token consumption by up to 41.7% through adaptive context control.