arXiv subjects

Haiyang Sun

Publications and source records attributed to Haiyang Sun.

At least 55 records · Page 3Linked to original sources

arXiv2025

Uncovering and Mitigating Destructive Multi-Embedding Attacks in Deepfake Proactive Forensics

With the rapid evolution of deepfake technologies and the wide dissemination of digital media, personal privacy is facing increasingly serious security threats. Deepfake proactive forensics, which involves embedding imperceptible watermarks to enable reliable source tracking, serves as a crucial defense against these threats. Although existing methods show strong forensic ability, they rely on an idealized assumption of single watermark embedding, which proves impractical in real-world scenarios. In this paper, we formally define and demonstrate the existence of Multi-Embedding Attacks (MEA) for the first time. When a previously protected image undergoes additional rounds of watermark embedding, the original forensic watermark can be destroyed or removed, rendering the entire proactive forensic mechanism ineffective. To address this vulnerability, we propose a general training paradigm named Adversarial Interference Simulation (AIS). Rather than modifying the network architecture, AIS explicitly simulates MEA scenarios during fine-tuning and introduces a resilience-driven loss function to enforce the learning of sparse and stable watermark representations. Our method enables the model to maintain the ability to extract the original watermark correctly even after a second embedding. Extensive experiments demonstrate that our plug-and-play AIS training paradigm significantly enhances the robustness of various existing methods against MEA.

cs.CV↗

arXiv2025

CorrectAD: A Self-Correcting Agentic System to Improve End-to-end Planning in Autonomous Driving

End-to-end planning methods are the de facto standard of the current autonomous driving system, while the robustness of the data-driven approaches suffers due to the notorious long-tail problem (i.e., rare but safety-critical failure cases). In this work, we explore whether recent diffusion-based video generation methods (a.k.a. world models), paired with structured 3D layouts, can enable a fully automated pipeline to self-correct such failure cases. We first introduce an agent to simulate the role of product manager, dubbed PM-Agent, which formulates data requirements to collect data similar to the failure cases. Then, we use a generative model that can simulate both data collection and annotation. However, existing generative models struggle to generate high-fidelity data conditioned on 3D layouts. To address this, we propose DriveSora, which can generate spatiotemporally consistent videos aligned with the 3D annotations requested by PM-Agent. We integrate these components into our self-correcting agentic system, CorrectAD. Importantly, our pipeline is an end-to-end model-agnostic and can be applied to improve any end-to-end planner. Evaluated on both nuScenes and a more challenging in-house dataset across multiple end-to-end planners, CorrectAD corrects 62.5% and 49.8% of failure cases, reducing collision rates by 39% and 27%, respectively.

cs.CV↗

arXiv2025

BAT: Learning Event-based Optical Flow with Bidirectional Adaptive Temporal Correlation

Event cameras deliver visual information characterized by a high dynamic range and high temporal resolution, offering significant advantages in estimating optical flow for complex lighting conditions and fast-moving objects. Current advanced optical flow methods for event cameras largely adopt established image-based frameworks. However, the spatial sparsity of event data limits their performance. In this paper, we present BAT, an innovative framework that estimates event-based optical flow using bidirectional adaptive temporal correlation. BAT includes three novel designs: 1) a bidirectional temporal correlation that transforms bidirectional temporally dense motion cues into spatially dense ones, enabling accurate and spatially dense optical flow estimation; 2) an adaptive temporal sampling strategy for maintaining temporal consistency in correlation; 3) spatially adaptive temporal motion aggregation to efficiently and adaptively aggregate consistent target motion features into adjacent motion features while suppressing inconsistent ones. Our results rank $1^{st}$ on the DSEC-Flow benchmark, outperforming existing state-of-the-art methods by a large margin while also exhibiting sharp edges and high-quality details. Notably, our BAT can accurately predict future optical flow using only past events, significantly outperforming E-RAFT's warm-start approach. Code: \textcolor{magenta}{https://github.com/gangweiX/BAT}.

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arXiv2025

MULTI-Bench: A Multi-Turn Interactive Benchmark for Assessing Emotional Intelligence ability of Spoken Dialogue Models

Spoken Dialogue Models (SDMs) have advanced rapidly, yet their ability to sustain genuinely interactive multi-turn conversations remains underexplored, as most benchmarks focus on single-turn exchanges. We introduce Multi-Bench, the first benchmark explicitly designed to evaluate SDMs in multi-turn interactive dialogue with an emphasis on emotional intelligence. Multi-Bench employs a hierarchical structure with a basic track for emotion understanding and reasoning and an advanced track for emotion support and application. It comprises five carefully designed tasks and about 3.2K samples, ranging from emotion recognition to complex reasoning and interactive dialogue, supported by a reproducible evaluation framework. We evaluate six representative SDMs on eight subsets of Multi-Bench. Results show that while current SDMs achieve good performance on basic understanding tasks, they still have room for improvement in advanced multi-turn interactive dialogue and reasoning-related tasks, particularly in emotion awareness and application.

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arXiv2025

Pixel-Perfect Depth with Semantics-Prompted Diffusion Transformers

This paper presents Pixel-Perfect Depth, a monocular depth estimation model based on pixel-space diffusion generation that produces high-quality, flying-pixel-free point clouds from estimated depth maps. Current generative depth estimation models fine-tune Stable Diffusion and achieve impressive performance. However, they require a VAE to compress depth maps into latent space, which inevitably introduces \textit{flying pixels} at edges and details. Our model addresses this challenge by directly performing diffusion generation in the pixel space, avoiding VAE-induced artifacts. To overcome the high complexity associated with pixel-space generation, we introduce two novel designs: 1) Semantics-Prompted Diffusion Transformers (SP-DiT), which incorporate semantic representations from vision foundation models into DiT to prompt the diffusion process, thereby preserving global semantic consistency while enhancing fine-grained visual details; and 2) Cascade DiT Design that progressively increases the number of tokens to further enhance efficiency and accuracy. Our model achieves the best performance among all published generative models across five benchmarks, and significantly outperforms all other models in edge-aware point cloud evaluation.

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arXiv2025

ViSE: A Systematic Approach to Vision-Only Street-View Extrapolation

Realistic view extrapolation is critical for closed-loop simulation in autonomous driving, yet it remains a significant challenge for current Novel View Synthesis (NVS) methods, which often produce distorted and inconsistent images beyond the original trajectory. This report presents our winning solution which ctook first place in the RealADSim Workshop NVS track at ICCV 2025. To address the core challenges of street view extrapolation, we introduce a comprehensive four-stage pipeline. First, we employ a data-driven initialization strategy to generate a robust pseudo-LiDAR point cloud, avoiding local minima. Second, we inject strong geometric priors by modeling the road surface with a novel dimension-reduced SDF termed 2D-SDF. Third, we leverage a generative prior to create pseudo ground truth for extrapolated viewpoints, providing auxilary supervision. Finally, a data-driven adaptation network removes time-specific artifacts. On the RealADSim-NVS benchmark, our method achieves a final score of 0.441, ranking first among all participants.

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arXiv2025

WorldSplat: Gaussian-Centric Feed-Forward 4D Scene Generation for Autonomous Driving

Recent advances in driving-scene generation and reconstruction have demonstrated significant potential for enhancing autonomous driving systems by producing scalable and controllable training data. Existing generation methods primarily focus on synthesizing diverse and high-fidelity driving videos; however, due to limited 3D consistency and sparse viewpoint coverage, they struggle to support convenient and high-quality novel-view synthesis (NVS). Conversely, recent 3D/4D reconstruction approaches have significantly improved NVS for real-world driving scenes, yet inherently lack generative capabilities. To overcome this dilemma between scene generation and reconstruction, we propose WorldSplat, a novel feed-forward framework for 4D driving-scene generation. Our approach effectively generates consistent multi-track videos through two key steps: (i) We introduce a 4D-aware latent diffusion model integrating multi-modal information to produce pixel-aligned 4D Gaussians in a feed-forward manner. (ii) Subsequently, we refine the novel view videos rendered from these Gaussians using a enhanced video diffusion model. Extensive experiments conducted on benchmark datasets demonstrate that WorldSplat effectively generates high-fidelity, temporally and spatially consistent multi-track novel view driving videos. Project: https://wm-research.github.io/worldsplat/

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arXiv2025

DiffMark: Diffusion-based Robust Watermark Against Deepfakes

Deepfakes pose significant security and privacy threats through malicious facial manipulations. While robust watermarking can aid in authenticity verification and source tracking, existing methods often lack the sufficient robustness against Deepfake manipulations. Diffusion models have demonstrated remarkable performance in image generation, enabling the seamless fusion of watermark with image during generation. In this study, we propose a novel robust watermarking framework based on diffusion model, called DiffMark. By modifying the training and sampling scheme, we take the facial image and watermark as conditions to guide the diffusion model to progressively denoise and generate corresponding watermarked image. In the construction of facial condition, we weight the facial image by a timestep-dependent factor that gradually reduces the guidance intensity with the decrease of noise, thus better adapting to the sampling process of diffusion model. To achieve the fusion of watermark condition, we introduce a cross information fusion (CIF) module that leverages a learnable embedding table to adaptively extract watermark features and integrates them with image features via cross-attention. To enhance the robustness of the watermark against Deepfake manipulations, we integrate a frozen autoencoder during training phase to simulate Deepfake manipulations. Additionally, we introduce Deepfake-resistant guidance that employs specific Deepfake model to adversarially guide the diffusion sampling process to generate more robust watermarked images. Experimental results demonstrate the effectiveness of the proposed DiffMark on typical Deepfakes. Our code will be available at https://github.com/vpsg-research/DiffMark.

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arXiv2025

ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving

Recent studies have explored leveraging the world knowledge and cognitive capabilities of Vision-Language Models (VLMs) to address the long-tail problem in end-to-end autonomous driving. However, existing methods typically formulate trajectory planning as a language modeling task, where physical actions are output in the language space, potentially leading to issues such as format-violating outputs, infeasible actions, and slow inference speeds. In this paper, we propose ReCogDrive, a novel Reinforced Cognitive framework for end-to-end autonomous Driving, unifying driving understanding and planning by integrating an autoregressive model with a diffusion planner. First, to instill human driving cognition into the VLM, we introduce a hierarchical data pipeline that mimics the sequential cognitive process of human drivers through three stages: generation, refinement, and quality control. Building on this cognitive foundation, we then address the language-action mismatch by injecting the VLM's learned driving priors into a diffusion planner to efficiently generate continuous and stable trajectories. Furthermore, to enhance driving safety and reduce collisions, we introduce a Diffusion Group Relative Policy Optimization (DiffGRPO) stage, reinforcing the planner for enhanced safety and comfort. Extensive experiments on the NAVSIM and Bench2Drive benchmarks demonstrate that ReCogDrive achieves state-of-the-art performance. Additionally, qualitative results across diverse driving scenarios and DriveBench highlight the model's scene comprehension. All code, model weights, and datasets will be made publicly available to facilitate subsequent research.

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arXiv2025

FELLE: Autoregressive Speech Synthesis with Token-Wise Coarse-to-Fine Flow Matching

To advance continuous-valued token modeling and temporal-coherence enforcement, we propose FELLE, an autoregressive model that integrates language modeling with token-wise flow matching. By leveraging the autoregressive nature of language models and the generative efficacy of flow matching, FELLE effectively predicts continuous-valued tokens (mel-spectrograms). For each continuous-valued token, FELLE modifies the general prior distribution in flow matching by incorporating information from the previous step, improving coherence and stability. Furthermore, to enhance synthesis quality, FELLE introduces a coarse-to-fine flow-matching mechanism, generating continuous-valued tokens hierarchically, conditioned on the language model's output. Experimental results demonstrate the potential of incorporating flow-matching techniques in autoregressive mel-spectrogram modeling, leading to significant improvements in TTS generation quality, as shown in https://aka.ms/felle.

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arXiv2025

Step-Audio 2 Technical Report

This paper presents Step-Audio 2, an end-to-end multi-modal large language model designed for industry-strength audio understanding and speech conversation. By integrating a latent audio encoder and reasoning-centric reinforcement learning (RL), Step-Audio 2 achieves promising performance in automatic speech recognition (ASR) and audio understanding. To facilitate genuine end-to-end speech conversation, Step-Audio 2 incorporates the generation of discrete audio tokens into language modeling, significantly enhancing its responsiveness to paralinguistic information such as speaking styles and emotions. To effectively leverage the rich textual and acoustic knowledge in real-world data, Step-Audio 2 integrates retrieval-augmented generation (RAG) and is able to call external tools such as web search to mitigate hallucination and audio search to switch timbres. Trained on millions of hours of speech and audio data, Step-Audio 2 delivers intelligence and expressiveness across diverse conversational scenarios. Evaluation results demonstrate that Step-Audio 2 achieves state-of-the-art performance on various audio understanding and conversational benchmarks compared to other open-source and commercial solutions. Please visit https://github.com/stepfun-ai/Step-Audio2 for more information.

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arXiv2025

ExtraGS: Geometric-Aware Trajectory Extrapolation with Uncertainty-Guided Generative Priors

Synthesizing extrapolated views from recorded driving logs is critical for simulating driving scenes for autonomous driving vehicles, yet it remains a challenging task. Recent methods leverage generative priors as pseudo ground truth, but often lead to poor geometric consistency and over-smoothed renderings. To address these limitations, we propose ExtraGS, a holistic framework for trajectory extrapolation that integrates both geometric and generative priors. At the core of ExtraGS is a novel Road Surface Gaussian(RSG) representation based on a hybrid Gaussian-Signed Distance Function (SDF) design, and Far Field Gaussians (FFG) that use learnable scaling factors to efficiently handle distant objects. Furthermore, we develop a self-supervised uncertainty estimation framework based on spherical harmonics that enables selective integration of generative priors only where extrapolation artifacts occur. Extensive experiments on multiple datasets, diverse multi-camera setups, and various generative priors demonstrate that ExtraGS significantly enhances the realism and geometric consistency of extrapolated views, while preserving high fidelity along the original trajectory.

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arXiv2025

Interleaved Speech-Text Language Models for Simple Streaming Text-to-Speech Synthesis

This paper introduces Interleaved Speech-Text Language Model (IST-LM) for zero-shot streaming Text-to-Speech (TTS). Unlike many previous approaches, IST-LM is directly trained on interleaved sequences of text and speech tokens with a fixed ratio, eliminating the need for additional efforts like forced alignment or complex designs. The ratio of text chunk size to speech chunk size is crucial for the performance of IST-LM. To explore this, we conducted a comprehensive series of statistical analyses on the training data and performed correlation analysis with the final performance, uncovering several key factors: 1) the distance between speech tokens and their corresponding text tokens, 2) the number of future text tokens accessible to each speech token, and 3) the frequency of speech tokens precedes their corresponding text tokens. Experimental results demonstrate how to achieve an optimal streaming TTS system with a limited performance gap compared to its non-streaming counterpart. IST-LM is conceptually simple and empirically powerful, enabling streaming TTS with minimal overhead while largely preserving performance, and offering broad potential for integration with real-time text streams from large language models.

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arXiv2025

Pseudo-Autoregressive Neural Codec Language Models for Efficient Zero-Shot Text-to-Speech Synthesis

Recent zero-shot text-to-speech (TTS) systems face a common dilemma: autoregressive (AR) models suffer from slow generation and lack duration controllability, while non-autoregressive (NAR) models lack temporal modeling and typically require complex designs. In this paper, we introduce a novel pseudo-autoregressive (PAR) codec language modeling approach that unifies AR and NAR modeling. Combining explicit temporal modeling from AR with parallel generation from NAR, PAR generates dynamic-length spans at fixed time steps. Building on PAR, we propose PALLE, a two-stage TTS system that leverages PAR for initial generation followed by NAR refinement. In the first stage, PAR progressively generates speech tokens along the time dimension, with each step predicting all positions in parallel but only retaining the left-most span. In the second stage, low-confidence tokens are iteratively refined in parallel, leveraging the global contextual information. Experiments demonstrate that PALLE, trained on LibriTTS, outperforms state-of-the-art systems trained on large-scale data, including F5-TTS, E2-TTS, and MaskGCT, on the LibriSpeech test-clean set in terms of speech quality, speaker similarity, and intelligibility, while achieving up to ten times faster inference speed. Audio samples are available at https://microsoft.com/research/project/vall-e-x/palle.

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arXiv2025

PosePilot: Steering Camera Pose for Generative World Models with Self-supervised Depth

Recent advancements in autonomous driving (AD) systems have highlighted the potential of world models in achieving robust and generalizable performance across both ordinary and challenging driving conditions. However, a key challenge remains: precise and flexible camera pose control, which is crucial for accurate viewpoint transformation and realistic simulation of scene dynamics. In this paper, we introduce PosePilot, a lightweight yet powerful framework that significantly enhances camera pose controllability in generative world models. Drawing inspiration from self-supervised depth estimation, PosePilot leverages structure-from-motion principles to establish a tight coupling between camera pose and video generation. Specifically, we incorporate self-supervised depth and pose readouts, allowing the model to infer depth and relative camera motion directly from video sequences. These outputs drive pose-aware frame warping, guided by a photometric warping loss that enforces geometric consistency across synthesized frames. To further refine camera pose estimation, we introduce a reverse warping step and a pose regression loss, improving viewpoint precision and adaptability. Extensive experiments on autonomous driving and general-domain video datasets demonstrate that PosePilot significantly enhances structural understanding and motion reasoning in both diffusion-based and auto-regressive world models. By steering camera pose with self-supervised depth, PosePilot sets a new benchmark for pose controllability, enabling physically consistent, reliable viewpoint synthesis in generative world models.

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arXiv2025

DriveMRP: Enhancing Vision-Language Models with Synthetic Motion Data for Motion Risk Prediction

Autonomous driving has seen significant progress, driven by extensive real-world data. However, in long-tail scenarios, accurately predicting the safety of the ego vehicle's future motion remains a major challenge due to uncertainties in dynamic environments and limitations in data coverage. In this work, we aim to explore whether it is possible to enhance the motion risk prediction capabilities of Vision-Language Models (VLM) by synthesizing high-risk motion data. Specifically, we introduce a Bird's-Eye View (BEV) based motion simulation method to model risks from three aspects: the ego-vehicle, other vehicles, and the environment. This allows us to synthesize plug-and-play, high-risk motion data suitable for VLM training, which we call DriveMRP-10K. Furthermore, we design a VLM-agnostic motion risk estimation framework, named DriveMRP-Agent. This framework incorporates a novel information injection strategy for global context, ego-vehicle perspective, and trajectory projection, enabling VLMs to effectively reason about the spatial relationships between motion waypoints and the environment. Extensive experiments demonstrate that by fine-tuning with DriveMRP-10K, our DriveMRP-Agent framework can significantly improve the motion risk prediction performance of multiple VLM baselines, with the accident recognition accuracy soaring from 27.13% to 88.03%. Moreover, when tested via zero-shot evaluation on an in-house real-world high-risk motion dataset, DriveMRP-Agent achieves a significant performance leap, boosting the accuracy from base_model's 29.42% to 68.50%, which showcases the strong generalization capabilities of our method in real-world scenarios.

cs.CV↗

arXiv2025

3DRealCar: An In-the-wild RGB-D Car Dataset with 360-degree Views

3D cars are commonly used in self-driving systems, virtual/augmented reality, and games. However, existing 3D car datasets are either synthetic or low-quality, limiting their applications in practical scenarios and presenting a significant gap toward high-quality real-world 3D car datasets. In this paper, we propose the first large-scale 3D real car dataset, termed 3DRealCar, offering three distinctive features. (1) \textbf{High-Volume}: 2,500 cars are meticulously scanned by smartphones, obtaining car images and point clouds with real-world dimensions; (2) \textbf{High-Quality}: Each car is captured in an average of 200 dense, high-resolution 360-degree RGB-D views, enabling high-fidelity 3D reconstruction; (3) \textbf{High-Diversity}: The dataset contains various cars from over 100 brands, collected under three distinct lighting conditions, including reflective, standard, and dark. Additionally, we offer detailed car parsing maps for each instance to promote research in car parsing tasks. Moreover, we remove background point clouds and standardize the car orientation to a unified axis for the reconstruction only on cars and controllable rendering without background. We benchmark 3D reconstruction results with state-of-the-art methods across different lighting conditions in 3DRealCar. Extensive experiments demonstrate that the standard lighting condition part of 3DRealCar can be used to produce a large number of high-quality 3D cars, improving various 2D and 3D tasks related to cars. Notably, our dataset brings insight into the fact that recent 3D reconstruction methods face challenges in reconstructing high-quality 3D cars under reflective and dark lighting conditions. \textcolor{red}{\href{https://xiaobiaodu.github.io/3drealcar/}{Our dataset is here.}}

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arXiv2025

Genesis: Multimodal Driving Scene Generation with Spatio-Temporal and Cross-Modal Consistency

We present Genesis, a unified framework for joint generation of multi-view driving videos and LiDAR sequences with spatio-temporal and cross-modal consistency. Genesis employs a two-stage architecture that integrates a DiT-based video diffusion model with 3D-VAE encoding, and a BEV-aware LiDAR generator with NeRF-based rendering and adaptive sampling. Both modalities are directly coupled through a shared latent space, enabling coherent evolution across visual and geometric domains. To guide the generation with structured semantics, we introduce DataCrafter, a captioning module built on vision-language models that provides scene-level and instance-level supervision. Extensive experiments on the nuScenes benchmark demonstrate that Genesis achieves state-of-the-art performance across video and LiDAR metrics (FVD 16.95, FID 4.24, Chamfer 0.611), and benefits downstream tasks including segmentation and 3D detection, validating the semantic fidelity and practical utility of the generated data.

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