Shih-Yu Lai
Publications
MORPH-U: Multi-Objective Resilient Motion Planning for V2X-Enabled Autonomous Driving in High-Uncertainty Environments via Simulation
V2X can warn an autonomous vehicle about hazards beyond line-of-sight, but it also brings uncertainty: messages may be delayed, dropped, or even forged. Meanwhile, map knowledge may change during a trip, forcing the vehicle to replan under tight real-time budgets. This paper studies how to make motion planning and low-level control robust to such uncertain, event-driven updates. We present MORPH-U, a CARLA-based closed-loop stack that fuses LiDAR/radar/camera with V2X (CAM/DENM) into a Local Dynamic Map (LDM) and triggers Hybrid-A* replanning when validated hazards or map changes affect the planned route. We expose the planning/control trade-offs via a multi-objective formulation over tracking error, safety margin (minimum TTC), responsiveness, and smoothness, and select operating points using Pareto-frontier analysis. To avoid unsafe replanning from faulty V2X triggers, MORPH-U adds a lightweight Byzantine-inspired acceptance gate that combines a quorum rule with an on-board sensor veto. Experiments in dynamic CARLA scenarios show that V2X-augmented LDM improves downstream safety, Pareto tuning provides controllable accuracy-comfort trade-offs, and the gate prevents replanning under saturated false-DENM injection ($p_{\text{attack}}=1.0$).
Latent-Mark: An Audio Watermark Robust to Neural Resynthesis
While existing audio watermarking techniques have achieved strong robustness against traditional digital signal processing (DSP) attacks, they remain vulnerable to neural resynthesis. This occurs because modern neural audio codecs act as semantic filters and discard the imperceptible waveform variations used in prior watermarking methods. To address this limitation, we propose Latent-Mark, the first zero-bit audio watermarking framework designed to survive semantic compression. Our key insight is that robustness to the encode-decode process requires embedding the watermark within the codec's invariant latent space. We achieve this by optimizing the audio waveform to induce a detectable directional shift in its encoded latent representation, while constraining perturbations to align with the natural audio manifold to ensure imperceptibility. To prevent overfitting to a single codec's quantization rules, we introduce Cross-Codec Optimization, jointly optimizing the waveform across multiple surrogate codecs to target shared latent invariants. Extensive evaluations demonstrate robust zero-shot transferability to unseen neural codecs, achieving state-of-the-art resilience against traditional DSP attacks while preserving perceptual imperceptibility. Our work inspires future research into universal watermarking frameworks capable of maintaining integrity across increasingly complex and diverse generative distortions.