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Jiansheng Chen

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9 papers

2 author rows

NeurIPS Conference 2025 Conference Paper

AGC-Drive: A Large-Scale Dataset for Real-World Aerial-Ground Collaboration in Driving Scenarios

Yunhao Hou
Bochao Zou
Min Zhang
燃陈
Shangdong Yang
Yanmei Zhang
Junbao Zhuo
Siheng Chen

By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and vehicle-to-infrastructure collaboration, with limited attention to aerial perspectives provided by UAVs, which uniquely offer dynamic, top-down views to alleviate occlusions and monitor large-scale interactive environments. A major reason for this is the lack of high-quality datasets for aerial-ground collaborative scenarios. To bridge this gap, we present AGC-Drive, the first large-scale real-world dataset for Aerial-Ground Cooperative 3D perception. The data collection platform consists of two vehicles, each equipped with five cameras and one LiDAR sensor, and one UAV carrying a forward-facing camera and a LiDAR sensor, enabling comprehensive multi-view and multi-agent perception. Consisting of approximately 80K LiDAR frames and 360K images, the dataset covers 14 diverse real-world driving scenarios, including urban roundabouts, highway tunnels, and on/off ramps. Notably, 17\% of the data comprises dynamic interaction events, including vehicle cut-ins, cut-outs, and frequent lane changes. AGC-Drive contains 350 scenes, each with approximately 100 frames and fully annotated 3D bounding boxes covering 13 object categories. We provide benchmarks for two 3D perception tasks: vehicle-to-vehicle collaborative perception and vehicle-to-UAV collaborative perception. Additionally, we release an open-source toolkit, including spatiotemporal alignment verification tools, multi-agent visualization systems, and collaborative annotation utilities. The dataset and code are available at https: //github. com/PercepX/AGC-Drive.

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AAAI Conference 2025 Conference Paper

A²RNet: Adversarial Attack Resilient Network for Robust Infrared and Visible Image Fusion

Jiawei Li
Hongwei Yu
Jiansheng Chen
Xinlong Ding
Jinlong Wang
Jinyuan Liu
Bochao Zou
Huimin Ma

Infrared and visible image fusion (IVIF) is a crucial technique for enhancing visual performance by integrating unique information from different modalities into one fused image. Exiting methods pay more attention to conducting fusion with undisturbed data, while overlooking the impact of deliberate interference on the effectiveness of fusion results. To investigate the robustness of fusion models, in this paper, we propose a novel adversarial attack resilient network, called A2RNet. Specifically, we develop an adversarial paradigm with an anti-attack loss function to implement adversarial attacks and training. It is constructed based on the intrinsic nature of IVIF and provide a robust foundation for future research advancements. We adopt a Unet as the pipeline with a transformer-based defensive refinement module (DRM) under this paradigm, which guarantees fused image quality in a robust coarse-to-fine manner. Compared to previous works, our method mitigates the adverse effects of adversarial perturbations, consistently maintaining high-fidelity fusion results. Furthermore, the performance of downstream tasks can also be well maintained under adversarial attacks.

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AAAI Conference 2025 Conference Paper

Enhancing Contrastive Learning Inspired by the Philosophy of “The Blind Men and the Elephant”

Yudong Zhang
Ruobing Xie
Jiansheng Chen
Xingwu Sun
Zhanhui Kang
Yu Wang

Contrastive learning is a prevalent technique in self-supervised vision representation learning, typically generating positive pairs by applying two data augmentations to the same image. Designing effective data augmentation strategies is crucial for the success of contrastive learning. Inspired by the story of the blind men and the elephant, we introduce JointCrop and JointBlur. These methods generate more challenging positive pairs by leveraging the joint distribution of the two augmentation parameters, thereby enabling contrastive learning to acquire more effective feature representations. To the best of our knowledge, this is the first effort to explicitly incorporate the joint distribution of two data augmentation parameters into contrastive learning. As a plug-and-play framework without additional computational overhead, JointCrop and JointBlur enhance the performance of SimCLR, BYOL, MoCo v1, MoCo v2, MoCo v3, SimSiam, and Dino baselines with notable improvements.

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ICML Conference 2025 Conference Paper

From Black Boxes to Transparent Minds: Evaluating and Enhancing the Theory of Mind in Multimodal Large Language Models

Xinyang Li
Siqi Liu
Bochao Zou
Jiansheng Chen
Huimin Ma 0001

As large language models evolve, there is growing anticipation that they will emulate human-like Theory of Mind (ToM) to assist with routine tasks. However, existing methods for evaluating machine ToM focus primarily on unimodal models and largely treat these models as black boxes, lacking an interpretative exploration of their internal mechanisms. In response, this study adopts an approach based on internal mechanisms to provide an interpretability-driven assessment of ToM in multimodal large language models (MLLMs). Specifically, we first construct a multimodal ToM test dataset, GridToM, which incorporates diverse belief testing tasks and perceptual information from multiple perspectives. Next, our analysis shows that attention heads in multimodal large models can distinguish cognitive information across perspectives, providing evidence of ToM capabilities. Furthermore, we present a lightweight, training-free approach that significantly enhances the model’s exhibited ToM by adjusting in the direction of the attention head.

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NeurIPS Conference 2025 Conference Paper

MVSMamba: Multi-View Stereo with State Space Model

Jianfei Jiang
Qiankun Liu
Hongyuan Liu
Haochen Yu
Liyong Wang
Jiansheng Chen
Huimin Ma

Robust feature representations are essential for learning-based Multi-View Stereo (MVS), which relies on accurate feature matching. Recent MVS methods leverage Transformers to capture long-range dependencies based on local features extracted by conventional feature pyramid networks. However, the quadratic complexity of Transformer-based MVS methods poses challenges to balance performance and efficiency. Motivated by the global modeling capability and linear complexity of the Mamba architecture, we propose MVSMamba, the first Mamba-based MVS network. MVSMamba enables efficient global feature aggregation with minimal computational overhead. To fully exploit Mamba's potential in MVS, we propose a Dynamic Mamba module (DM-module) based on a novel reference-centered dynamic scanning strategy, which enables: (1) Efficient intra- and inter-view feature interaction from the reference to source views, (2) Omnidirectional multi-view feature representations, and (3) Multi-scale global feature aggregation. Extensive experimental results demonstrate MVSMamba outperforms state-of-the-art MVS methods on the DTU dataset and the Tanks-and-Temples benchmark with both superior performance and efficiency. The source code is available at https: //github. com/JianfeiJ/MVSMamba.

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AAAI Conference 2025 Conference Paper

ProtoCar: Learning 3D Vehicle Prototypes from Single-View and Unconstrained Driving Scene Images

Hongyuan Liu
Haochen Yu
Bochao Zou
Juntao Lyu
Qi Mei
Jiansheng Chen
Huimin Ma

Reconstructing 3D models from sensor data is a valuable and promising direction for developing testing and validation environments in applications like autonomous driving. However, existing methods for 3D modeling often rely on extensive multi-view data or controlled conditions, making them difficult and expensive to scale. Furthermore, these methods, particularly those based on neural radiance fields, typically produce implicit models that can be challenging to manipulate and suffer from slow rendering speeds. In this paper, we introduce ProtoCar, a novel approach that overcomes these limitations by learning 3D vehicle prototypes from single-view images with diverse and unconstrained visual conditions. ProtoCar uses real-world driving data from LiDAR and image sensors, and employs 3D Gaussian splatting techniques to represent explicit geometric and texture. Extensive experiments demonstrate that ProtoCar generates high-quality 3D models and adapts well to various vehicle types and challenging visual scenarios, offering a scalable and effective solution for 3D modeling in environments with limited and variable visual information.

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AAAI Conference 2025 Conference Paper

RRT-MVS: Recurrent Regularization Transformer for Multi-View Stereo

Jianfei Jiang
Liyong Wang
Haochen Yu
Tianyu Hu
Jiansheng Chen
Huimin Ma

Learning-based multi-view stereo methods aim to predict depth maps for reconstructing dense point clouds. These methods rely on regularization to reduce redundancy in the cost volume. However, existing methods have limitations: CNN-based regularization is restricted to local receptive fields, while Transformer-based regularization struggles with handling depth discontinuities. These limitations often result in inaccurate depth maps with significant noise, particularly noticeable in the boundary and background regions. In this paper, we propose a Recurrent Regularization Transformer for Multi-View Stereo (RRT-MVS), which addresses these limitations by regularizing the cost volume separately for depth and spatial dimensions. Specifically, we introduce Recurrent Self-Attention (R-SA) to aggregate global matching costs within and across the cost maps and filter out noisy feature correlations. Additionally, we present Depth Residual Attention (DRA) to aggregate depth correlations within the cost volume and a Positional Adapter (PA) to enhance 3D positional awareness in each 2D cost map, further augmenting the effectiveness of R-SA. Experimental results demonstrate that RRT-MVS achieves state-of-the-art performance on the DTU and Tanks-and-Temples datasets. Notably, RRT-MVS ranks first on both the Tanks-and-Temples intermediate and advanced benchmarks among all published methods.

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AAAI Conference 2024 Conference Paper

Step Vulnerability Guided Mean Fluctuation Adversarial Attack against Conditional Diffusion Models

Hongwei Yu
Jiansheng Chen
Xinlong Ding
Yudong Zhang
Ting Tang
Huimin Ma

The high-quality generation results of conditional diffusion models have brought about concerns regarding privacy and copyright issues. As a possible technique for preventing the abuse of diffusion models, the adversarial attack against diffusion models has attracted academic attention recently. In this work, utilizing the phenomenon that diffusion models are highly sensitive to the mean value of the input noise, we propose the Mean Fluctuation Attack (MFA) to introduce mean fluctuations by shifting the mean values of the estimated noises during the reverse process. In addition, we reveal that the vulnerability of different reverse steps against adversarial attacks actually varies significantly. By modeling the step vulnerability and using it as guidance to sample the target steps for generating adversarial examples, the effectiveness of adversarial attacks can be substantially enhanced. Extensive experiments show that our algorithm can steadily cause the mean shift of the predicted noises so as to disrupt the entire reverse generation process and degrade the generation results significantly. We also demonstrate that the step vulnerability is intrinsic to the reverse process by verifying its effectiveness in an attack method other than MFA. Code and Supplementary is available at https://github.com/yuhongwei22/MFA

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AAAI Conference 2024 Conference Paper

Transferable Adversarial Attacks for Object Detection Using Object-Aware Significant Feature Distortion

Xinlong Ding
Jiansheng Chen
Hongwei Yu
Yu Shang
Yining Qin
Huimin Ma

Transferable black-box adversarial attacks against classifiers by disturbing the intermediate-layer features have been extensively studied in recent years. However, these methods have not yet achieved satisfactory performances when directly applied to object detectors. This is largely because the features of detectors are fundamentally different from that of the classifiers. In this study, we propose a simple but effective method to improve the transferability of adversarial examples for object detectors by leveraging the properties of spatial consistency and limited equivariance of object detectors’ features. Specifically, we combine a novel loss function and deliberately designed data augmentation to distort the backbone features of object detectors by suppressing significant features corresponding to objects and amplifying the surrounding vicinal features corresponding to object boundaries. As such the target object and background area on the generated adversarial samples are more likely to be confused by other detectors. Extensive experimental results show that our proposed method achieves state-of-the-art black-box transferability for untargeted attacks on various models, including one/two-stage, CNN/Transformer-based, and anchor-free/anchor-based detectors.

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