It verifies that the space around the detected speckle is empty. To do this efficiently, an integral image of the binarized depth map is computed, which allows for rapid, constant-time queries of the pixel sum within any rectangular region. We check the pixel sum in eight rectangular regions surrounding the speckle's bounding box. If the ratio of filled pixels to total pixels within these regions is below a low threshold (e.g., 0.07), the speckle is considered isolated within a glass plane. T emporal Consistency: A final filter operates on a tracking-by-detection principle to ensure identified features are persistent and not transient sensor noise. A speckle is confirmed and passed to the mapping algorithm only after its required count (e.g., 1-3 detections) is exceeded across multiple consecutive frames. To prevent the accumulation of false positives and old detections, a max age parameter is used to expire and remove tracks that have not been seen for a specified duration. D. Transparent Plane Reprojection The final stage of our methodology involves segmenting empty regions in the depth map and reprojecting the confirmed transparent planes. The algorithm first identifies the empty regions in the depth image and applies a non-maximum suppression (NMS) algorithm to merge redundant empty regions, ensuring a single, accurate representation of each transparent plane.

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel decentralized fusion approach to estimate both pose and velocity. We use dual-view measurements from an eye-in-hand and an eye-to-hand vision sensor configuration mounted on a manipulator to track a target object whose motion is modeled as random walk (stochastic acceleration model). The robot runs two independent adaptive extended Kalman filters formulated on a matrix Lie group, developed as part of this work. These filters predict poses and velocities on the manifold $\mathbb{SE}(3) \times \mathbb{R}^3 \times \mathbb{R}^3$ and update the state on the manifold $\mathbb{SE}(3)$. The final fused state comprising the fused pose and velocities of the target is obtained using a correlation-aware fusion rule on Lie groups. The proposed method is evaluated on a UFactory xArm 850 equipped with Intel RealSense cameras, tracking a moving target. Experimental results validate the effectiveness and robustness of the proposed decentralized dual-view estimation framework, showing consistent improvements over state-of-the-art methods.

Structural biology has made significant progress in determining membrane proteins, leading to a remarkable increase in the number of available structures in dedicated databases. The inherent complexity of membrane protein structures, coupled with challenges such as missing data, inconsistencies, and computational barriers from disparate sources, underscores the need for improved database integration. To address this gap, we present MetaMP, a framework that unifies membrane-protein databases within a web application and uses machine learning for classification. MetaMP improves data quality by enriching metadata, offering a user-friendly interface, and providing eight interactive views for streamlined exploration. MetaMP was effective across tasks of varying difficulty, demonstrating advantages across different levels without compromising speed or accuracy, according to user evaluations. Moreover, MetaMP supports essential functions such as structure classification and outlier detection. We present three practical applications of Artificial Intelligence (AI) in membrane protein research: predicting transmembrane segments, reconciling legacy databases, and classifying structures with explainable AI support. In a validation focused on statistics, MetaMP resolved 77% of data discrepancies and accurately predicted the class of newly identified membrane proteins 98% of the time and overtook expert curation. Altogether, MetaMP is a much-needed resource that harmonizes current knowledge and empowers AI-driven exploration of membrane-protein architecture.

The study of multimodality has garnered significant interest in fields where the analysis of interactions among multiple information sources can enhance predictive modeling, data fusion, and interpretability. Partial information decomposition (PID) has emerged as a useful information-theoretic framework to quantify the degree to which individual modalities independently, redundantly, or synergistically convey information about a target variable. However, existing PID methods depend on optimizing over a joint distribution constrained by estimated pairwise probability distributions, which are costly and inaccurate for continuous and high-dimensional modalities. Our first key insight is that the problem can be solved efficiently when the pairwise distributions are multivariate Gaussians, and we refer to this problem as Gaussian PID (GPID). We propose a new gradient-based algorithm that substantially improves the computational efficiency of GPID based on an alternative formulation of the underlying optimization problem. To generalize the applicability to non-Gaussian data, we learn information-preserving encoders to transform random variables of arbitrary input distributions into pairwise Gaussian random variables. Along the way, we resolved an open problem regarding the optimality of joint Gaussian solutions for GPID. Empirical validation in diverse synthetic examples demonstrates that our proposed method provides more accurate and efficient PID estimates than existing baselines. We further evaluate a series of large-scale multimodal benchmarks to show its utility in real-world applications of quantifying PID in multimodal datasets and selecting high-performing models.

Neural Information Processing Systems http://nips.cc/

One natural way of improving a model's performance is to make use of multiple input sources relevant to a given task so that enough information can be extracted to build strong features.

Abstract--Secure and interoperable integration of heterogeneous medical data remains a grand challenge in digital health. Current federated learning (FL) frameworks offer privacy-preserving model training but lack standardized mechanisms to orchestrate multi-modal data fusion across distributed and resource-constrained environments. This study introduces a novel framework that leverages the Model Context Protocol (MCP) as an interoperability layer for secure, cross-agent communication in multi-modal federated healthcare systems. The proposed architecture unifies three pillars: (i) multi-modal feature alignment for clinical imaging, electronic medical records, and wearable IoT data; (ii) secure aggregation with differential privacy to protect patient-sensitive updates; and (iii) energy-aware scheduling to mitigate dropouts in mobile clients. By employing MCP as a schema-driven interface, the framework enables adaptive orchestration of AI agents and toolchains while ensuring compliance with privacy regulations. Experimental evaluation on benchmark datasets and pilot clinical cohorts demonstrates up to 9.8% improvement in diagnostic accuracy compared with baseline FL, a 54% reduction in client dropout rates, and clinically acceptable privacy-utility trade-offs.

Multimodal sentiment analysis (MSA) leverages information fusion from diverse modalities (e.g., text, audio, visual) to enhance sentiment prediction. However, simple fusion techniques often fail to account for variations in modality quality, such as those that are noisy, missing, or semantically conflicting. This oversight leads to suboptimal performance, especially in discerning subtle emotional nuances. To mitigate this limitation, we introduce a simple yet efficient \textbf{A}daptive \textbf{G}ated \textbf{F}usion \textbf{N}etwork that adaptively adjusts feature weights via a dual gate fusion mechanism based on information entropy and modality importance. This mechanism mitigates the influence of noisy modalities and prioritizes informative cues following unimodal encoding and cross-modal interaction. Experiments on CMU-MOSI and CMU-MOSEI show that AGFN significantly outperforms strong baselines in accuracy, effectively discerning subtle emotions with robust performance. Visualization analysis of feature representations demonstrates that AGFN enhances generalization by learning from a broader feature distribution, achieved by reducing the correlation between feature location and prediction error, thereby decreasing reliance on specific locations and creating more robust multimodal feature representations.