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Autonomous vehicles rely on deep neural networks (DNNs) for traffic sign recognition, lane centering, and vehicle detection, yet these models are vulnerable to attacks that induce misclassification and threaten safety. Existing defenses (e.g., adversarial training) often fail to generalize and degrade clean accuracy. We introduce Vehicle Vision–Language Models (V2LMs), fine-tuned Vision Language Models (VLMs) special- ized for AV perception, and show that they are inherently more robust to unseen attacks without adversarial training, maintain- ing substantially higher adversarial accuracy than conventional DNNs. We study two deployments: Solo (task-specific V2LMs) and Tandem (a single V2LM for all three tasks). Under attacks, DNNs drop 33%–74%, whereas V2LMs decline by under 8% on average. Tandem achieves comparable robustness to Solo while being more memory-efficient. We also explore integrating V2LMs in parallel with existing perception stacks to enhance resilience. Our results suggest V2LMs are a promising path to- ward secure, robust AV perception. 

Gaze-annotated facial data is crucial for training deep neural networks (DNNs) for gaze estimation. However, obtaining these data is labor-intensive and requires specialized equipment due to the challenge of accurately annotating the gaze direction of a subject. In this work, we present a generative framework to create annotated gaze data by leveraging the benefits of labeled and unlabeled data sources. We propose a Gaze-aware Compositional GAN that learns to generate annotated facial images from a limited labeled dataset. Then we transfer this model to an unlabeled data domain to take advantage of the diversity it provides. Experiments demonstrate our approach's effectiveness in generating within-domain image augmentations in the ETH-XGaze dataset and cross-domain augmentations in the CelebAMask-HQ dataset domain for gaze estimation DNN training. We also show additional applications of our work, which include facial image editing and gaze redirection. 

3D instance segmentation for unlabeled imaging modalities is a challenging but essential task as collecting expert annotation can be expensive and time-consuming. Existing works segment a new modality by either deploying pre-trained models optimized on diverse training data or sequentially conducting image translation and segmentation with two relatively independent networks. In this work, we propose a novel Cyclic Segmentation Generative Adversarial Network (CySGAN) that conducts image translation and instance segmentation simultaneously using a unified network with weight sharing. Since the image translation layer can be removed at inference time, our proposed model does not introduce additional computational cost upon a standard segmentation model. For optimizing CySGAN, besides the CycleGAN losses for image translation and supervised losses for the annotated source domain, we also utilize self-supervised and segmentation-based adversarial objectives to enhance the model performance by leveraging unlabeled target domain images. We benchmark our approach on the task of 3D neuronal nuclei segmentation with annotated electron microscopy (EM) images and unlabeled expansion microscopy (ExM) data. The proposed CySGAN outperforms pre-trained generalist models, feature-level domain adaptation models, and the baselines that conduct image translation and segmentation sequentially. Our implementation and the newly collected, densely annotated ExM zebrafish brain nuclei dataset, named NucExM, are publicly available at https://connectomics-bazaar.github.io/proj/CySGAN/index.html.