arXiv subjects

Yantian Shen

Publications and source records attributed to Yantian Shen.

3 recordsLinked to original sources

arXiv2026

See-and-Reach: Precise Vision-Language Navigation for UAVs within the Field of View

UAV Vision-Language Navigation (UAV-VLN) is typically formulated as a holistic search-and-reach problem, where long-range target discovery and final target approach are optimized and evaluated jointly. This formulation makes it difficult to assess a critical capability of aerial embodied agents, namely whether a UAV can accurately ground a visible target and translate vision-language evidence into precise 3D motion once the target enters its field of view. To address this limitation, we introduce UAV-VLN-FOV, a target-visible navigation task that isolates the see-and-reach stage and enables a more diagnostic evaluation of terminal reaching ability. We further propose 3DG-VLN, a vision-language waypoint prediction framework guided by dynamic 3D direction cues to enhance fine-grained visual grounding and spatial direction alignment for precise target reaching. Specifically, 3DG-VLN adaptively processes high-resolution front-view and downward-view observations to preserve fine-grained visual and geometric details for target grounding. It also updates the target-relative direction online during closed-loop navigation, allowing the agent to maintain spatial alignment with the target and reduce accumulated direction drift. To support this task, we construct a dedicated high-resolution benchmark which contains 2,717 trajectories with target-oriented high-level instructions, high-resolution front-view and downward-view egocentric observations, and continuous 3D waypoint annotations. Experiments show that 3DG-VLN outperforms competitive UAV-VLN baselines, achieving a 13.82\% improvement in success rate. Real-world trials further demonstrate the potential of 3DG-VLN for practical see-and-reach navigation. The source code and benchmark are available at https://github.com/xuefanfu/3DG-VLN.

cs.CV↗

arXiv2025

Delving into Cryptanalytic Extraction of PReLU Neural Networks

The machine learning problem of model extraction was first introduced in 1991 and gained prominence as a cryptanalytic challenge starting with Crypto 2020. For over three decades, research in this field has primarily focused on ReLU-based neural networks. In this work, we take the first step towards the cryptanalytic extraction of PReLU neural networks, which employ more complex nonlinear activation functions than their ReLU counterparts. We propose a raw output-based parameter recovery attack for PReLU networks and extend it to more restrictive scenarios where only the top-m probability scores are accessible. Our attacks are rigorously evaluated through end-to-end experiments on diverse PReLU neural networks, including models trained on the MNIST dataset. To the best of our knowledge, this is the first practical demonstration of PReLU neural network extraction across three distinct attack scenarios.

cs.CR↗

arXiv2024

Hard-Label Cryptanalytic Extraction of Neural Network Models

The machine learning problem of extracting neural network parameters has been proposed for nearly three decades. Functionally equivalent extraction is a crucial goal for research on this problem. When the adversary has access to the raw output of neural networks, various attacks, including those presented at CRYPTO 2020 and EUROCRYPT 2024, have successfully achieved this goal. However, this goal is not achieved when neural networks operate under a hard-label setting where the raw output is inaccessible. In this paper, we propose the first attack that theoretically achieves functionally equivalent extraction under the hard-label setting, which applies to ReLU neural networks. The effectiveness of our attack is validated through practical experiments on a wide range of ReLU neural networks, including neural networks trained on two real benchmarking datasets (MNIST, CIFAR10) widely used in computer vision. For a neural network consisting of $10^5$ parameters, our attack only requires several hours on a single core.

cs.CR↗