🎉 Excited to share our new work accepted to
#CVPR2026 “𝗡𝗲𝘅𝘂𝘀𝗙𝗹𝗼𝘄: 𝗨𝗻𝗶𝗳𝘆𝗶𝗻𝗴 𝗗𝗶𝘀𝗽𝗮𝗿𝗮𝘁𝗲 𝗧𝗮𝘀𝗸𝘀 𝘂𝗻𝗱𝗲𝗿 𝗣𝗮𝗿𝘁𝗶𝗮𝗹 𝗦𝘂𝗽𝗲𝗿𝘃𝗶𝘀𝗶𝗼𝗻 𝘃𝗶𝗮 𝗜𝗻𝘃𝗲𝗿𝘁𝗶𝗯𝗹𝗲 𝗙𝗹𝗼𝘄 𝗡𝗲𝘁𝘄𝗼𝗿𝗸𝘀”
In textbooks and benchmarks, datasets are often neatly annotated for every task. In the real world, they rarely are. Data is collected at different times, in different places, and for different purposes. One dataset may contain labels for mapping, another for tracking, another for depth or segmentation. Does that mean fragmented data has to be discarded?
💪 𝗢𝘂𝗿 𝗮𝗻𝘀𝘄𝗲𝗿: 𝗻𝗼. We show that partially supervised, heterogeneous data can still be highly valuable—and in some cases, can even outperform fully annotated data.
How do we learn across structurally different tasks when labels are only partially available?
💡 𝗢𝘂𝗿 𝗦𝗼𝗹𝘂𝘁𝗶𝗼𝗻: 𝗡𝗲𝘅𝘂𝘀𝗙𝗹𝗼𝘄
NexusFlow is a lightweight, plug-and-play framework that aligns disparate tasks in a shared latent space.
What makes it work:
• 🔄 𝗜𝗻𝘃𝗲𝗿𝘁𝗶𝗯𝗹𝗲 𝗳𝗲𝗮𝘁𝘂𝗿𝗲 𝗮𝗹𝗶𝗴𝗻𝗺𝗲𝗻𝘁. Invertible coupling layers map task features into a unified canonical space. Since the mapping is bijective, task information is preserved, helping avoid the representational collapse often seen in vanilla alignment methods.
• 🔌 𝗣𝗹𝘂𝗴-𝗮𝗻𝗱-𝗽𝗹𝗮𝘆 𝗱𝗲𝘀𝗶𝗴𝗻. No need to modify task heads or losses. NexusFlow can be added to BEV-based backbones with a simple alignment loss.
• 📈 𝗦𝗰𝗮𝗹𝗮𝗯𝗹𝗲 𝘁𝗼 𝗺𝘂𝗹𝘁𝗶𝗽𝗹𝗲 𝘁𝗮𝘀𝗸𝘀. The method scales as O(N) with one surrogate branch per task, making extension to 3 tasks straightforward.
• 📐 𝗧𝗵𝗲𝗼𝗿𝗲𝘁𝗶𝗰𝗮𝗹 𝗴𝗿𝗼𝘂𝗻𝗱𝗶𝗻𝗴. Invertibility provides a provable bound that connects the alignment loss to cross-task knowledge transfer.
🏆 𝗥𝗲𝘀𝘂𝗹𝘁𝘀
NexusFlow sets a new state of the art on nuScenes for domain-partitioned autonomous driving, where online map reconstruction and multi-object tracking are supervised in different geographic regions.
It also delivers consistent gains across all three NYUv2 tasks: semantic segmentation, depth estimation, and surface normal prediction.
📎 𝗣𝗿𝗼𝗷𝗲𝗰𝘁 𝗽𝗮𝗴𝗲:
ark1234.github.io/nexusflow_…
🤝 This work was conducted in collaboration across Worcester Polytechnic Institute, Texas A&M University, Tohoku University, University of Michigan, and Bosch Research.
Huge thanks to collaborators: Fangzhou Lin, Yuping Wang, Yuliang Guo, Zixun Huang, Xinyu Huang, Haichong Zhang, Kazunori Yamada, Zhengzhong Tu, Liu Ren, and Ziming Zhang.
#CVPR2026 #ComputerVision #MultiTaskLearning #AI #GenAI #AutonomousDriving #DeepLearning #RepresentationLearning