Jincheng Yu

Longhui Yu, Weisen Jiang, Han Shi et al. · cambridge

Large language models (LLMs) have pushed the limits of natural language understanding and exhibited excellent problem-solving ability. Despite the great success, most existing open-source LLMs (e.g., LLaMA-2) are still far away from satisfactory for solving mathematical problem due to the complex reasoning procedures. To bridge this gap, we propose MetaMath, a fine-tuned language model that specializes in mathematical reasoning. Specifically, we start by bootstrapping mathematical questions by rewriting the question from multiple perspectives without extra knowledge, which results in a new dataset called MetaMathQA. Then we fine-tune the LLaMA-2 models on MetaMathQA. Experimental results on two popular benchmarks (i.e., GSM8K and MATH) for mathematical reasoning demonstrate that MetaMath outperforms a suite of open-source LLMs by a significant margin. Our MetaMath-7B model achieves 66.4% on GSM8K and 19.4% on MATH, exceeding the state-of-the-art models of the same size by 11.5% and 8.7%. Particularly, MetaMath-70B achieves an accuracy of 82.3% on GSM8K, slightly better than GPT-3.5-Turbo. We release all the MetaMathQA dataset, the MetaMath models with different model sizes and the training code for public use.

Yuyang Zhao, Yicheng Pan, Qiyuan He et al.

Real-time streaming video-to-video editing (V2V) is critical for interactive applications such as live broadcasting and gaming, yet it remains a formidable challenge due to the stringent requirements for temporal consistency and inference throughput. In this paper, we present SANA-Streaming, a system-algorithm co-designed framework for high-resolution, real-time streaming video editing on consumer GPUs, with the following three core designs: (1) Hybrid Diffusion Transformer architecture introduces softmax attention in part of the blocks to improve local modeling capabilities while preserving the efficiency of linear layers. (2) Cycle-Reverse Regularization is a novel training strategy that enforces semantic consistency by predicting source frames from generated content via flow matching, improving temporal consistency without requiring paired long edited videos. (3) Efficient System Co-design combines fused GDN kernels and Mixed-Precision Quantization (MPQ) optimized for the NVIDIA Blackwell (RTX 5090) architecture. By profiling real-world throughput, our MPQ maximizes Tensor Core utilization while maintaining generation quality. The resulting system achieves real-time 1280 x 704 resolution editing at 24 end-to-end FPS on a single RTX 5090 GPU, with the DiT core running at 58 FPS. Experimental results demonstrate that our co-design approach significantly outperforms existing SOTA methods in both temporal coherence and system throughput.

Junsong Chen, Jincheng Yu, Chongjian Ge et al.

The most advanced text-to-image (T2I) models require significant training costs (e.g., millions of GPU hours), seriously hindering the fundamental innovation for the AIGC community while increasing CO2 emissions. This paper introduces PIXART-$α$, a Transformer-based T2I diffusion model whose image generation quality is competitive with state-of-the-art image generators (e.g., Imagen, SDXL, and even Midjourney), reaching near-commercial application standards. Additionally, it supports high-resolution image synthesis up to 1024px resolution with low training cost, as shown in Figure 1 and 2. To achieve this goal, three core designs are proposed: (1) Training strategy decomposition: We devise three distinct training steps that separately optimize pixel dependency, text-image alignment, and image aesthetic quality; (2) Efficient T2I Transformer: We incorporate cross-attention modules into Diffusion Transformer (DiT) to inject text conditions and streamline the computation-intensive class-condition branch; (3) High-informative data: We emphasize the significance of concept density in text-image pairs and leverage a large Vision-Language model to auto-label dense pseudo-captions to assist text-image alignment learning. As a result, PIXART-$α$'s training speed markedly surpasses existing large-scale T2I models, e.g., PIXART-$α$ only takes 10.8% of Stable Diffusion v1.5's training time (675 vs. 6,250 A100 GPU days), saving nearly \$300,000 (\$26,000 vs. \$320,000) and reducing 90% CO2 emissions. Moreover, compared with a larger SOTA model, RAPHAEL, our training cost is merely 1%. Extensive experiments demonstrate that PIXART-$α$ excels in image quality, artistry, and semantic control. We hope PIXART-$α$ will provide new insights to the AIGC community and startups to accelerate building their own high-quality yet low-cost generative models from scratch.

Haoyi Zhu, Haozhe Liu, Yuyang Zhao et al.

We introduce SANA-WM, an efficient 2.6B-parameter open-source world model natively trained for one-minute generation, synthesizing high-fidelity, 720p, minute-scale videos with precise camera control. SANA-WM achieves visual quality comparable to large-scale industrial baselines such as LingBot-World and HY-WorldPlay, while significantly improving efficiency. Four core designs drive our architecture: (1) Hybrid Linear Attention combines frame-wise Gated DeltaNet (GDN) with softmax attention for memory-efficient long-context modeling. (2) Dual-Branch Camera Control ensures precise 6-DoF trajectory adherence. (3) Two-Stage Generation Pipeline applies a long-video refiner to stage-1 outputs, improving quality and consistency across sequences. (4) Robust Annotation Pipeline extracts accurate metric-scale 6-DoF camera poses from public videos to yield high-quality, spatiotemporally consistent action labels. Driven by these designs, SANA-WMdemonstrates remarkable efficiency across data, training compute, and inference hardware: it uses only $\sim$213K public video clips with metric-scale pose supervision, completes training in 15 days on 64 H100s, and generates each 60s clip on a single GPU; its distilled variant can be deployed on a single RTX 5090 with NVFP4 quantization to denoise a 60s 720p clip in 34s. On our one-minute world-model benchmark, SANA-WM demonstrates stronger action-following accuracy than prior open-source baselines and achieves comparable visual quality at $36\times$ higher throughput for scalable world modeling.

Jingwei Zhang, Han Shi, Jincheng Yu et al.

Generative models can be categorized into two types: explicit generative models that define explicit density forms and allow exact likelihood inference, such as score-based diffusion models (SDMs) and normalizing flows; implicit generative models that directly learn a transformation from the prior to the data distribution, such as generative adversarial nets (GANs). While these two types of models have shown great success, they suffer from respective limitations that hinder them from achieving fast sampling and high sample quality simultaneously. In this paper, we propose a unified theoretic framework for SDMs and GANs. We shown that: i) the learning dynamics of both SDMs and GANs can be described as a novel SDE named Discriminator Denoising Diffusion Flow (DiffFlow) where the drift can be determined by some weighted combinations of scores of the real data and the generated data; ii) By adjusting the relative weights between different score terms, we can obtain a smooth transition between SDMs and GANs while the marginal distribution of the SDE remains invariant to the change of the weights; iii) we prove the asymptotic optimality and maximal likelihood training scheme of the DiffFlow dynamics; iv) under our unified theoretic framework, we introduce several instantiations of the DiffFLow that provide new algorithms beyond GANs and SDMs with exact likelihood inference and have potential to achieve flexible trade-off between high sample quality and fast sampling speed.

Qixuan Li, Chen Le, Dongyue Huang et al.

Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to safely understand the scene and search the target. In this paper, we propose COMPASS, a multi-stage exploration and manipulation framework featuring a manipulation-aware sampling-based planner. First, we reduce collision risks with a near-field awareness scan to build a local collision map. Additionally, we employ a multi-objective utility function to find viewpoints that are both informative and conducive to subsequent manipulation. Moreover, we perform a constrained manipulation optimization strategy to generate manipulation poses that respect obstacle constraints. To systematically evaluate method's performance under these difficulties, we propose a benchmark of confined-space exploration and manipulation containing four level challenging scenarios. Compared to exploration methods designed for other robots and only considering information gain, our framework increases manipulation success rate by 24.25% in simulations. Real-world experiments demonstrate our method's capability for active sensing and manipulation in confined environments.

Enze Xie, Junsong Chen, Yuyang Zhao et al.

This paper presents SANA-1.5, a linear Diffusion Transformer for efficient scaling in text-to-image generation. Building upon SANA-1.0, we introduce three key innovations: (1) Efficient Training Scaling: A depth-growth paradigm that enables scaling from 1.6B to 4.8B parameters with significantly reduced computational resources, combined with a memory-efficient 8-bit optimizer. (2) Model Depth Pruning: A block importance analysis technique for efficient model compression to arbitrary sizes with minimal quality loss. (3) Inference-time Scaling: A repeated sampling strategy that trades computation for model capacity, enabling smaller models to match larger model quality at inference time. Through these strategies, SANA-1.5 achieves a text-image alignment score of 0.81 on GenEval, which can be further improved to 0.96 through inference scaling with VILA-Judge, establishing a new SoTA on GenEval benchmark. These innovations enable efficient model scaling across different compute budgets while maintaining high quality, making high-quality image generation more accessible. Our code and pre-trained models are released.

Chengyue Wu, Shiyi Lan, Yonggan Fu et al.

Vision-language models (VLMs) predominantly rely on autoregressive decoding, which generates tokens one at a time and fundamentally limits inference throughput. This limitation is especially acute in physical AI scenarios such as robotics and autonomous driving, where VLMs are deployed on edge devices at batch size one, making AR decoding memory-bandwidth-bound and leaving hardware parallelism underutilized. While block-wise discrete diffusion has shown promise for parallel text generation, extending it to VLMs remains challenging due to the need to jointly handle continuous visual representations and discrete text tokens while preserving pretrained multimodal capabilities. We present Fast-dVLM, a block-diffusion-based VLM that enables KV-cache-compatible parallel decoding and speculative block decoding for inference acceleration. We systematically compare two AR-to-diffusion conversion strategies: a two-stage approach that first adapts the LLM backbone with text-only diffusion fine-tuning before multimodal training, and a direct approach that converts the full AR VLM in one stage. Under comparable training budgets, direct conversion proves substantially more efficient by leveraging the already multimodally aligned VLM; we therefore adopt it as our recommended recipe. We introduce a suite of multimodal diffusion adaptations, block size annealing, causal context attention, auto-truncation masking, and vision efficient concatenation, that collectively enable effective block diffusion in the VLM setting. Extensive experiments across 11 multimodal benchmarks show Fast-dVLM matches its autoregressive counterpart in generation quality. With SGLang integration and FP8 quantization, Fast-dVLM achieves over 6x end-to-end inference speedup over the AR baseline.

Qixuan Li, Chen Le, Jincheng Yu et al.

We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the conflicting demands of spatial coordination, robust locomotion, and closed-chain physical interactions. To resolve this, our architecture systematically decouples high-level collaborative reasoning from low-level robust motion execution. At the high level, a centralized Joint Diffusion Policy leverages an SE(3)-invariant task-space representation to learn coordinate-agnostic spatial coordination patterns. To translate these frame-agnostic references into physical motion, a task-centric hybrid Whole-Body Controller synergizes a proactive kinematic Model Predictive Control for collision-free velocity distribution with a reactive execution layer. Crucially, this reactive layer guarantees rapid responsiveness for precise end-effector tracking, while concurrently integrating active force regulation via a cooperative admittance scheme to safely resolve kinematic conflicts and strictly regulate internal stresses during closed-chain interactions. We validate the framework across progressively challenging simulated scenarios, including cooperative carrying, packing and handovers, and successfully deploy the latter in the real world. The results demonstrate reliable task execution, strict configuration agnosticism, and exceptional resilience against severe physical perturbations, offering a highly robust pathway for multi-robot embodied coordination.

Jingwei Zhang, Xunpeng Huang, Jincheng Yu

We consider optimizing two-layer neural networks in the mean-field regime where the learning dynamics of network weights can be approximated by the evolution in the space of probability measures over the weight parameters associated with the neurons. The mean-field regime is a theoretically attractive alternative to the NTK (lazy training) regime which is only restricted locally in the so-called neural tangent kernel space around specialized initializations. Several prior works (\cite{chizat2018global, mei2018mean}) establish the asymptotic global optimality of the mean-field regime, but it is still challenging to obtain a quantitative convergence rate due to the complicated unbounded nonlinearity of the training dynamics. This work establishes the first linear convergence result for vanilla two-layer neural networks trained by continuous-time noisy gradient descent in the mean-field regime. Our result relies on a novel time-depdendent estimate of the logarithmic Sobolev constants for a family of measures determined by the evolving distribution of hidden neurons.

Kewei Zhang, Ye Huang, Yufan Deng et al.

While the Transformer architecture dominates many fields, its quadratic self-attention complexity hinders its use in large-scale applications. Linear attention offers an efficient alternative, but its direct application often degrades performance, with existing fixes typically re-introducing computational overhead through extra modules (e.g., depthwise separable convolution) that defeat the original purpose. In this work, we identify a key failure mode in these methods: global context collapse, where the model loses representational diversity. To address this, we propose Multi-Head Linear Attention (MHLA), which preserves this diversity by computing attention within divided heads along the token dimension. We prove that MHLA maintains linear complexity while recovering much of the expressive power of softmax attention, and verify its effectiveness across multiple domains, achieving a 3.6\% improvement on ImageNet classification, a 6.3\% gain on NLP, a 12.6\% improvement on image generation, and a 41\% enhancement on video generation under the same time complexity.

Qiuyi Gu, Yuze Sheng, Jincheng Yu et al.

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for physical manipulation, particularly regarding articulated objects. Existing approaches for inferring articulation mechanisms from static observations are prone to visual ambiguity, while methods that estimate parameters from state changes typically rely on constrained settings such as fixed cameras and unobstructed views. Furthermore, inconspicuous functional elements like hidden handles are frequently missed by pure visual perception. To bridge this gap, we present ArtiSG, a framework that constructs functional 3D scene graphs by encoding human demonstrations into structured robotic memory. Our approach leverages a robust data collection pipeline utilizing a portable hardware setup to accurately track 6-DoF manipulation trajectories and estimate articulation axes, even under camera ego-motion. By integrating these kinematic priors into a hierarchical, open-vocabulary graph, our system not only models how articulated objects move but also utilizes physical interaction data to discover implicit elements. Extensive real-world experiments demonstrate that ArtiSG significantly outperforms baselines in functional element recall and articulation estimation precision. Moreover, we show that the constructed graph serves as a reliable robotic memory, effectively guiding robots to perform language-directed manipulation tasks in real-world environments containing diverse articulated objects.

Yu Sun, Meng Cao, Ping Yang et al.

Vision-Language-Action (VLA) models and world models have recently emerged as promising paradigms for general-purpose robotic intelligence, yet their progress is hindered by the lack of reliable evaluation protocols that reflect real-world deployment. Existing benchmarks are largely simulator-centric, which provide controllability but fail to capture the reality gap caused by perception noise, complex contact dynamics, hardware constraints, and system latency. Moreover, fragmented real-world evaluations across different robot platforms prevent fair and reproducible comparison. To address these challenges, we introduce ManipArena, a standardized evaluation framework designed to bridge simulation and real-world execution. ManipArena comprises 20 diverse tasks across 10,812 expert trajectories emphasizing reasoning-oriented manipulation tasks requiring semantic and spatial reasoning, supports multi-level generalization through controlled out-of-distribution settings, and incorporates long-horizon mobile manipulation beyond tabletop scenarios. The framework further provides rich sensory diagnostics, including low-level motor signals, and synchronized real-to-sim environments constructed via high-quality 3D scanning. Together, these features enable fair, realistic, and reproducible evaluation for both VLA and world model approaches, providing a scalable foundation for diagnosing and advancing embodied intelligence systems.

Wenkun He, Yuchao Gu, Junyu Chen et al.

Existing text-to-image diffusion models excel at generating high-quality images, but face significant efficiency challenges when scaled to high resolutions, like 4K image generation. While previous research accelerates diffusion models in various aspects, it seldom handles the inherent redundancy within the latent space. To bridge this gap, this paper introduces DC-Gen, a general framework that accelerates text-to-image diffusion models by leveraging a deeply compressed latent space. Rather than a costly training-from-scratch approach, DC-Gen uses an efficient post-training pipeline to preserve the quality of the base model. A key challenge in this paradigm is the representation gap between the base model's latent space and a deeply compressed latent space, which can lead to instability during direct fine-tuning. To overcome this, DC-Gen first bridges the representation gap with a lightweight embedding alignment training. Once the latent embeddings are aligned, only a small amount of LoRA fine-tuning is needed to unlock the base model's inherent generation quality. We verify DC-Gen's effectiveness on SANA and FLUX.1-Krea. The resulting DC-Gen-SANA and DC-Gen-FLUX models achieve quality comparable to their base models but with a significant speedup. Specifically, DC-Gen-FLUX reduces the latency of 4K image generation by 53x on the NVIDIA H100 GPU. When combined with NVFP4 SVDQuant, DC-Gen-FLUX generates a 4K image in just 3.5 seconds on a single NVIDIA 5090 GPU, achieving a total latency reduction of 138x compared to the base FLUX.1-Krea model. Code: https://github.com/dc-ai-projects/DC-Gen.

Junyu Chen, Wenkun He, Yuchao Gu et al.

We introduce DC-VideoGen, a post-training acceleration framework for efficient video generation. DC-VideoGen can be applied to any pre-trained video diffusion model, improving efficiency by adapting it to a deep compression latent space with lightweight fine-tuning. The framework builds on two key innovations: (i) a Deep Compression Video Autoencoder with a novel chunk-causal temporal design that achieves 32x/64x spatial and 4x temporal compression while preserving reconstruction quality and generalization to longer videos; and (ii) AE-Adapt-V, a robust adaptation strategy that enables rapid and stable transfer of pre-trained models into the new latent space. Adapting the pre-trained Wan-2.1-14B model with DC-VideoGen requires only 10 GPU days on the NVIDIA H100 GPU. The accelerated models achieve up to 14.8x lower inference latency than their base counterparts without compromising quality, and further enable 2160x3840 video generation on a single GPU. Code: https://github.com/dc-ai-projects/DC-VideoGen.

Yuanfan Xu, Jincheng Yu, Jiahao Tang et al.

Autonomous exploration and mapping of unknown terrains employing single or multiple robots is an essential task in mobile robotics and has therefore been widely investigated. Nevertheless, given the lack of unified data sets, metrics, and platforms to evaluate the exploration approaches, we develop an autonomous robot exploration benchmark entitled Explore-Bench. The benchmark involves various exploration scenarios and presents two types of quantitative metrics to evaluate exploration efficiency and multi-robot cooperation. Explore-Bench is extremely useful as, recently, deep reinforcement learning (DRL) has been widely used for robot exploration tasks and achieved promising results. However, training DRL-based approaches requires large data sets, and additionally, current benchmarks rely on realistic simulators with a slow simulation speed, which is not appropriate for training exploration strategies. Hence, to support efficient DRL training and comprehensive evaluation, the suggested Explore-Bench designs a 3-level platform with a unified data flow and $12 \times$ speed-up that includes a grid-based simulator for fast evaluation and efficient training, a realistic Gazebo simulator, and a remotely accessible robot testbed for high-accuracy tests in physical environments. The practicality of the proposed benchmark is highlighted with the application of one DRL-based and three frontier-based exploration approaches. Furthermore, we analyze the performance differences and provide some insights about the selection and design of exploration methods. Our benchmark is available at https://github.com/efc-robot/Explore-Bench.

Junsong Chen, Yuyang Zhao, Jincheng Yu et al.

We introduce SANA-Video, a small diffusion model that can efficiently generate videos up to 720x1280 resolution and minute-length duration. SANA-Video synthesizes high-resolution, high-quality and long videos with strong text-video alignment at a remarkably fast speed, deployable on RTX 5090 GPU. Two core designs ensure our efficient, effective and long video generation: (1) Linear DiT: We leverage linear attention as the core operation, which is more efficient than vanilla attention given the large number of tokens processed in video generation. (2) Constant-Memory KV cache for Block Linear Attention: we design block-wise autoregressive approach for long video generation by employing a constant-memory state, derived from the cumulative properties of linear attention. This KV cache provides the Linear DiT with global context at a fixed memory cost, eliminating the need for a traditional KV cache and enabling efficient, minute-long video generation. In addition, we explore effective data filters and model training strategies, narrowing the training cost to 12 days on 64 H100 GPUs, which is only 1% of the cost of MovieGen. Given its low cost, SANA-Video achieves competitive performance compared to modern state-of-the-art small diffusion models (e.g., Wan 2.1-1.3B and SkyReel-V2-1.3B) while being 16x faster in measured latency. Moreover, SANA-Video can be deployed on RTX 5090 GPUs with NVFP4 precision, accelerating the inference speed of generating a 5-second 720p video from 71s to 29s (2.4x speedup). In summary, SANA-Video enables low-cost, high-quality video generation.

Yecheng Wu, Junyu Chen, Zhuoyang Zhang et al.

We introduce DC-AR, a novel masked autoregressive (AR) text-to-image generation framework that delivers superior image generation quality with exceptional computational efficiency. Due to the tokenizers' limitations, prior masked AR models have lagged behind diffusion models in terms of quality or efficiency. We overcome this limitation by introducing DC-HT - a deep compression hybrid tokenizer for AR models that achieves a 32x spatial compression ratio while maintaining high reconstruction fidelity and cross-resolution generalization ability. Building upon DC-HT, we extend MaskGIT and create a new hybrid masked autoregressive image generation framework that first produces the structural elements through discrete tokens and then applies refinements via residual tokens. DC-AR achieves state-of-the-art results with a gFID of 5.49 on MJHQ-30K and an overall score of 0.69 on GenEval, while offering 1.5-7.9x higher throughput and 2.0-3.5x lower latency compared to prior leading diffusion and autoregressive models.

Haoran Lu, Luyang Fang, Ruidong Zhang et al.

Due to the remarkable capabilities and growing impact of large language models (LLMs), they have been deeply integrated into many aspects of society. Thus, ensuring their alignment with human values and intentions has emerged as a critical challenge. This survey provides a comprehensive overview of practical alignment techniques, training protocols, and empirical findings in LLM alignment. We analyze the development of alignment methods across diverse paradigms, characterizing the fundamental trade-offs between core alignment objectives. Our analysis shows that while supervised fine-tuning enables basic instruction-following, preference-based methods offer more flexibility for aligning with nuanced human intent. We discuss state-of-the-art techniques, including Direct Preference Optimization (DPO), Constitutional AI, brain-inspired methods, and alignment uncertainty quantification (AUQ), highlighting their approaches to balancing quality and efficiency. We review existing evaluation frameworks and benchmarking datasets, emphasizing limitations such as reward misspecification, distributional robustness, and scalable oversight. We summarize strategies adopted by leading AI labs to illustrate the current state of practice. We conclude by outlining open problems in oversight, value pluralism, robustness, and continuous alignment. This survey aims to inform both researchers and practitioners navigating the evolving landscape of LLM alignment.

Lifeng Shen, Jincheng Yu, Hansi Yang et al.

Mixup and its variants form a popular class of data augmentation techniques.Using a random sample pair, it generates a new sample by linear interpolation of the inputs and labels. However, generating only one single interpolation may limit its augmentation ability. In this paper, we propose a simple yet effective extension called multi-mix, which generates multiple interpolations from a sample pair. With an ordered sequence of generated samples, multi-mix can better guide the training process than standard mixup. Moreover, theoretically, this can also reduce the stochastic gradient variance. Extensive experiments on a number of synthetic and large-scale data sets demonstrate that multi-mix outperforms various mixup variants and non-mixup-based baselines in terms of generalization, robustness, and calibration.

Hongyu Song, Jincheng Yu, Jiantao Qiu et al.

For scenes such as floods and earthquakes, the disaster area is large, and rescue time is tight. Multi-UAV exploration is more efficient than a single UAV. Existing UAV exploration work is modeled as a Coverage Path Planning (CPP) task to achieve full coverage of the area in the presence of obstacles. However, the endurance capability of UAV is limited, and the rescue time is urgent. Thus, even using multiple UAVs cannot achieve complete disaster area coverage in time. Therefore, in this paper we propose a multi-Agent Endurance-limited CPP (MAEl-CPP) problem based on a priori heatmap of the disaster area, which requires the exploration of more valuable areas under limited energy. Furthermore, we propose a path planning algorithm for the MAEl-CPP problem, by ranking the possible disaster areas according to their importance through satellite or remote aerial images and completing path planning according to the importance level. Experimental results show that our proposed algorithm is at least twice as effective as the existing method in terms of search efficiency.

Feng Gao, Jincheng Yu, Hao Shen et al.

Learning depth and ego-motion from unlabeled videos via self-supervision from epipolar projection can improve the robustness and accuracy of the 3D perception and localization of vision-based robots. However, the rigid projection computed by ego-motion cannot represent all scene points, such as points on moving objects, leading to false guidance in these regions. To address this problem, we propose an Attentional Separation-and-Aggregation Network (ASANet), which can learn to distinguish and extract the scene's static and dynamic characteristics via the attention mechanism. We further propose a novel MotionNet with an ASANet as the encoder, followed by two separate decoders, to estimate the camera's ego-motion and the scene's dynamic motion field. Then, we introduce an auto-selecting approach to detect the moving objects for dynamic-aware learning automatically. Empirical experiments demonstrate that our method can achieve the state-of-the-art performance on the KITTI benchmark.

Wenshuo Li, Jincheng Yu, Xuefei Ning et al.

Recently, Deep Learning (DL), especially Convolutional Neural Network (CNN), develops rapidly and is applied to many tasks, such as image classification, face recognition, image segmentation, and human detection. Due to its superior performance, DL-based models have a wide range of application in many areas, some of which are extremely safety-critical, e.g. intelligent surveillance and autonomous driving. Due to the latency and privacy problem of cloud computing, embedded accelerators are popular in these safety-critical areas. However, the robustness of the embedded DL system might be harmed by inserting hardware/software Trojans into the accelerator and the neural network model, since the accelerator and deploy tool (or neural network model) are usually provided by third-party companies. Fortunately, inserting hardware Trojans can only achieve inflexible attack, which means that hardware Trojans can easily break down the whole system or exchange two outputs, but can't make CNN recognize unknown pictures as targets. Though inserting software Trojans has more freedom of attack, it often requires tampering input images, which is not easy for attackers. So, in this paper, we propose a hardware-software collaborative attack framework to inject hidden neural network Trojans, which works as a back-door without requiring manipulating input images and is flexible for different scenarios. We test our attack framework for image classification and face recognition tasks, and get attack success rate of 92.6% and 100% on CIFAR10 and YouTube Faces, respectively, while keeping almost the same accuracy as the unattacked model in the normal mode. In addition, we show a specific attack scenario in which a face recognition system is attacked and gives a specific wrong answer.