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Chenjie Wang

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AAAI Conference 2026 Conference Paper

Vulnerability-Aware Robust Multimodal Adversarial Training

  • Junrui Zhang
  • Xinyu Zhao
  • Jie Peng
  • Chenjie Wang
  • Jianmin Ji
  • Tianlong Chen

Multimodal learning has shown significant superiority on various tasks by integrating multiple modalities. However, the interdependencies among modalities increase the susceptibility of multimodal models to adversarial attacks. Existing methods mainly focus on attacks on specific modalities or indiscriminately attack all modalities. In this paper, we find that these approaches ignore the differences between modalities in their contribution to final robustness, resulting in suboptimal robustness performance. To bridge this gap, we introduce Vulnerability-Aware Robust Multimodal Adversarial Training (VARMAT), a probe-in-training adversarial training method that improves multimodal robustness by identifying the vulnerability of each modality. To be specific, VARMAT first explicitly quantifies the vulnerability of each modality, grounded in a first-order approximation of the attack objective (Probe). Then, we propose a targeted regularization term that penalizes modalities with high vulnerability, guiding robust learning while maintaining task accuracy (Training). We demonstrate the enhanced robustness of our method across multiple multimodal datasets involving diverse modalities. Finally, we achieve {12.73%, 22.21%, 11.19%} robustness improvement on three multimodal datasets, revealing a significant blind spot in multimodal adversarial training.

ICRA Conference 2025 Conference Paper

CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving

  • Junrui Zhang 0012
  • Chenjie Wang
  • Jie Peng 0002
  • Haoyu Li
  • Jianmin Ji
  • Yu Zhang 0086
  • Yanyong Zhang

Imitation learning based planning tasks on the nuPlan dataset have gained great interest due to their potential to generate human-like driving behaviors. However, open-loop training on the nuPlan dataset tends to cause causal confusion during closed-loop testing, and the dataset also presents a longtail distribution of scenarios. These issues introduce challenges for imitation learning. To tackle these problems, we introduce CAFE-AD, a Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving method, designed to enhance feature representation across various scenario types. We develop an adaptive feature pruning module that ranks feature importance to capture the most relevant information while reducing the interference of noisy information during training. Moreover, we propose a cross-scenario feature interpolation module that enhances scenario information to introduce diversity, enabling the network to alleviate overfitting in dominant scenarios. We evaluate our method CAFEAD, on the challenging public nuPlan Test14-Hard closed-loop simulation benchmark. The results demonstrate that CAFEAD outperforms state-of-the-art methods including rule-based and hybrid planners, and exhibits the potential in mitigating the impact of long-tail distribution within the dataset. Additionally, we further validate its effectiveness in real-world environments. The code and models will be made available at https://github.com/AlniyatRui/CAFE-AD.

v2026.09.13