Fusing information from human observations can help robots overcome sensing limitations in collaborative tasks. However, an uncertainty-aware fusion framework requires a grounded likelihood representing the uncertainty of human inputs. This paper presents a Feature Pyramid Likelihood Grounding Network (FP-LGN) that grounds spatial language by learning relevant map image features and their relationships with spatial relation semantics. The model is trained as a probability estimator to capture aleatoric uncertainty in human language using three-stage curriculum learning. Results showed that FP-LGN matched expert-designed rules in mean Negative Log-Likelihood (NLL) and demonstrated greater robustness with lower standard deviation. Collaborative sensing results demonstrated that the grounded likelihood successfully enabled uncertainty-aware fusion of heterogeneous human language observations and robot sensor measurements, achieving significant improvements in human-robot collaborative task performance.

Multi-modal learning has emerged as a crucial research direction, as integrating textual and visual information can substantially enhance performance in tasks such as classification, retrieval, and scene understanding. Despite advances with large pre-trained models, existing approaches often suffer from insufficient cross-modal interactions and rigid fusion strategies, failing to fully harness the complementary strengths of different modalities. To address these limitations, we propose Co-AttenDWG, co-attention with dimension-wise gating, and expert fusion. Our approach first projects textual and visual features into a shared embedding space, where a dedicated co-attention mechanism enables simultaneous, fine-grained interactions between modalities. This is further strengthened by a dimension-wise gating network, which adaptively modulates feature contributions at the channel level to emphasize salient information. In parallel, dual-path encoders independently refine modality-specific representations, while an additional cross-attention layer aligns the modalities further. The resulting features are aggregated via an expert fusion module that integrates learned gating and self-attention, yielding a robust unified representation. Experimental results on the MIMIC and SemEval Memotion 1.0 datasets show that Co-AttenDWG achieves state-of-the-art performance and superior cross-modal alignment, highlighting its effectiveness for diverse multi-modal applications.

Machine learning models are widely used to support stealth assessment in digital learning environments. Existing approaches typically rely on abstracted gameplay log data, which may overlook subtle behavioral cues linked to learners' cognitive strategies. This paper proposes a multimodal late fusion model that integrates screencast-based visual data and structured in-game action sequences to classify students' problem-solving strategies. In a pilot study with secondary school students ( N = 149) playing a multitouch educational game, the fusion model outperformed unimodal baseline models, increasing classification accuracy by over 15%. Results highlight the potential of multimodal ML for strategy-sensitive assessment and adaptive support in interactive learning contexts.

Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become widely recognized as particularly suitable for humanoid robots, as it provides both rich semantic and 3D geometric information essential for comprehensive environmental understanding. In this work, we present Humanoid Occupancy, a generalized multimodal occupancy perception system that integrates hardware and software components, data acquisition devices, and a dedicated annotation pipeline. Our framework employs advanced multi-modal fusion techniques to generate grid-based occupancy outputs encoding both occupancy status and semantic labels, thereby enabling holistic environmental understanding for downstream tasks such as task planning and navigation. To address the unique challenges of humanoid robots, we overcome issues such as kinematic interference and occlusion, and establish an effective sensor layout strategy. Furthermore, we have developed the first panoramic occupancy dataset specifically for humanoid robots, offering a valuable benchmark and resource for future research and development in this domain. The network architecture incorporates multi-modal feature fusion and temporal information integration to ensure robust perception. Overall, Humanoid Occupancy delivers effective environmental perception for humanoid robots and establishes a technical foundation for standardizing universal visual modules, paving the way for the widespread deployment of humanoid robots in complex real-world scenarios.

Developing effective multimodal data fusion strategies has become increasingly essential for improving the predictive power of statistical machine learning methods across a wide range of applications, from autonomous driving to medical diagnosis. Traditional fusion methods, including early, intermediate, and late fusion, integrate data at different stages, each offering distinct advantages and limitations. In this paper, we introduce Meta Fusion, a flexible and principled framework that unifies these existing strategies as special cases. Motivated by deep mutual learning and ensemble learning, Meta Fusion constructs a cohort of models based on various combinations of latent representations across modalities, and further boosts predictive performance through soft information sharing within the cohort. Our approach is model-agnostic in learning the latent representations, allowing it to flexibly adapt to the unique characteristics of each modality. Theoretically, our soft information sharing mechanism reduces the generalization error. Empirically, Meta Fusion consistently outperforms conventional fusion strategies in extensive simulation studies. We further validate our approach on real-world applications, including Alzheimer's disease detection and neural decoding.

Fusion of LiDAR and RGB data has the potential to enhance outdoor 3D object detection accuracy. To address real-world challenges in outdoor 3D object detection, fusion of LiDAR and RGB input has started gaining traction. However, effective integration of these modalities for precise object detection task still remains a largely open problem. To address that, we propose a MultiStream Detection (MuStD) network, that meticulously extracts task-relevant information from both data modalities. The network follows a three-stream structure. Its LiDAR-PillarNet stream extracts sparse 2D pillar features from the LiDAR input while the LiDAR-Height Compression stream computes Bird's-Eye View features. An additional 3D Multimodal stream combines RGB and LiDAR features using UV mapping and polar coordinate indexing. Eventually, the features containing comprehensive spatial, textural and geometric information are carefully fused and fed to a detection head for 3D object detection. Our extensive evaluation on the challenging KITTI Object Detection Benchmark using public testing server at https://www.cvlibs.net/datasets/kitti/eval_object_detail.php?&result=d162ec699d6992040e34314d19ab7f5c217075e0 establishes the efficacy of our method by achieving new state-of-the-art or highly competitive results in different categories while remaining among the most efficient methods. Our code will be released through MuStD GitHub repository at https://github.com/IbrahimUWA/MuStD.git

Accurately assessing post quality requires complex relational reasoning to capture nuanced topic-post relationships. However, existing studies face three major limitations: (1) treating the task as unimodal categorization, which fails to leverage multimodal cues and fine-grained quality distinctions; (2) introducing noise during deep multimodal fusion, leading to misleading signals; and (3) lacking the ability to capture complex semantic relationships like relevance and comprehensiveness. To address these issues, we propose the Multimodal Fine-grained Topic-post Relational Reasoning (MFTRR) framework, which mimics human cognitive processes. MFTRR reframes post-quality assessment as a ranking task and incorporates multimodal data to better capture quality variations. It consists of two key modules: (1) the Local-Global Semantic Correlation Reasoning Module, which models fine-grained semantic interactions between posts and topics at both local and global levels, enhanced by a maximum information fusion mechanism to suppress noise; and (2) the Multi-Level Evidential Relational Reasoning Module, which explores macro- and micro-level relational cues to strengthen evidence-based reasoning. We evaluate MFTRR on three newly constructed multimodal topic-post datasets and the public Lazada-Home dataset. Experimental results demonstrate that MFTRR significantly outperforms state-of-the-art baselines, achieving up to 9.52% NDCG@3 improvement over the best unimodal method on the Art History dataset.

Multimodal aspect-based sentiment analysis(MABSA) seeks to identify aspect terms within paired image-text data and determine their fine grained sentiment polarities, representing a fundamental task for improving the effectiveness of applications such as product review systems and public opinion monitoring. Existing methods face challenges such as cross modal alignment noise and insufficient consistency in fine-grained representations. While global modality alignment methods often overlook the connection between aspect terms and their corresponding local visual regions, bridging the representation gap between text and images remains a challenge. To address these limitations, this paper introduces an end to end Contrastive Learning framework with Adaptive Multi-loss and Progressive Attention Fusion(CLAMP). The framework is composed of three novel modules: Progressive Attention Fusion network, Multi-task Contrastive Learning, and Adaptive Multi-loss Aggregation. The Progressive Attention Fusion network enhances fine-grained alignment between textual features and image regions via hierarchical, multi-stage cross modal interactions, effectively suppressing irrelevant visual noise. Secondly, multi-task contrastive learning combines global modal contrast and local granularity alignment to enhance cross modal representation consistency. Adaptive Multi-loss Aggregation employs a dynamic uncertainty based weighting mechanism to calibrate loss contributions according to each task's uncertainty, thereby mitigating gradient interference. Evaluation on standard public benchmarks demonstrates that CLAMP consistently outperforms the vast majority of existing state of the art methods.

Background: Mental illnesses such as depression and anxiety require improved methods for early detection and personalized intervention. Traditional predictive models often rely on unimodal data or early fusion strategies that fail to capture the complex, multimodal nature of psychiatric data. Advanced integration techniques, such as intermediate (latent space) fusion, may offer better accuracy and clinical utility. Methods: Using data from the BRIGHTEN clinical trial, we evaluated intermediate (latent space) fusion for predicting daily depressive symptoms (PHQ-2 scores). We compared early fusion implemented with a Random Forest (RF) model and intermediate fusion implemented via a Combined Model (CM) using autoencoders and a neural network. The dataset included behavioral (smartphone-based), demographic, and clinical features. Experiments were conducted across multiple temporal splits and data stream combinations. Performance was evaluated using mean squared error (MSE) and coefficient of determination (R2). Results: The CM outperformed both RF and Linear Regression (LR) baselines across all setups, achieving lower MSE (0.4985 vs. 0.5305 with RF) and higher R2 (0.4695 vs. 0.4356). The RF model showed signs of overfitting, with a large gap between training and test performance, while the CM maintained consistent generalization. Performance was best when integrating all data modalities in the CM (in contradistinction to RF), underscoring the value of latent space fusion for capturing non-linear interactions in complex psychiatric datasets. Conclusion: Latent space fusion offers a robust alternative to traditional fusion methods for prediction with multimodal mental health data. Future work should explore model interpretability and individual-level prediction for clinical deployment.

Real-world Vehicle-to-Everything (V2X) cooperative perception systems often operate under heterogeneous sensor configurations due to cost constraints and deployment variability across vehicles and infrastructure. This heterogeneity poses significant challenges for feature fusion and perception reliability. To address these issues, we propose HeCoFuse, a unified framework designed for cooperative perception across mixed sensor setups where nodes may carry Cameras (C), LiDARs (L), or both. By introducing a hierarchical fusion mechanism that adaptively weights features through a combination of channel-wise and spatial attention, HeCoFuse can tackle critical challenges such as cross-modality feature misalignment and imbalanced representation quality. In addition, an adaptive spatial resolution adjustment module is employed to balance computational cost and fusion effectiveness. To enhance robustness across different configurations, we further implement a cooperative learning strategy that dynamically adjusts fusion type based on available modalities. Experiments on the real-world TUMTraf-V2X dataset demonstrate that HeCoFuse achieves 43.22% 3D mAP under the full sensor configuration (LC+LC), outperforming the CoopDet3D baseline by 1.17%, and reaches an even higher 43.38% 3D mAP in the L+LC scenario, while maintaining 3D mAP in the range of 21.74% to 43.38% across nine heterogeneous sensor configurations. These results, validated by our first-place finish in the CVPR 2025 DriveX challenge, establish HeCoFuse as the current state-of-the-art on TUM-Traf V2X dataset while demonstrating robust performance across diverse sensor deployments.