Efficient Visual-Inertial Odometry (VIO) is crucial for payload-constrained robots. Though modern optimization-based algorithms have achieved superior accuracy, the MSCKF-based VIO algorithms are still widely demanded for their efficient and consistent performance. As MSCKF is built upon the conventional multi-view geometry, the measured residuals are not only related to the state errors but also related to the feature position errors. To apply EKF fusion, a projection process is required to remove the feature position error from the observation model, which can lead to model and accuracy degradation. To obtain an efficient visual-inertial fusion model, while also preserving the model consistency, we propose to reconstruct the MSCKF VIO with the novel Pose-Only (PO) multi-view geometry description. In the newly constructed filter, we have modeled PO reprojection residuals, which are solely related to the motion states and thus overcome the requirements of space projection. Moreover, the new filter does not require any feature position information, which removes the computational cost and linearization errors brought in by the 3D reconstruction procedure. We have conducted comprehensive experiments on multiple datasets, where the proposed method has shown accuracy improvements and consistent performance in challenging sequences.

Oral cancer is a global health challenge. It is treatable if detected early, but it is often fatal in late stages. There is a shift from the invasive and time-consuming tissue sampling and histological examination, toward non-invasive brush biopsies and cytological examination. Reliable computer-assisted methods are essential for cost-effective and accurate cytological analysis, but the lack of detailed cell-level annotations impairs model effectiveness. This study aims to improve AI-based oral cancer detection using multimodal imaging and deep fusion. We combine brightfield and fluorescence whole slide microscopy imaging to analyze Papanicolaou-stained liquid-based cytology slides of brush biopsies collected from both healthy and cancer patients. Due to limited cytological annotations, we utilize a weakly supervised deep learning approach using only patient-level labels. We evaluate various multimodal fusion strategies, including early, late, and three recent intermediate fusion methods. Our results show: (i) fluorescence imaging of Papanicolaou-stained samples provides substantial diagnostic information; (ii) multimodal fusion enhances classification and cancer detection accuracy over single-modality methods. Intermediate fusion is the leading method among the studied approaches. Specifically, the Co-Attention Fusion Network (CAFNet) model excels with an F1 score of 83.34% and accuracy of 91.79%, surpassing human performance on the task. Additional tests highlight the need for precise image registration to optimize multimodal analysis benefits. This study advances cytopathology by combining deep learning and multimodal imaging to enhance early, non-invasive detection of oral cancer, improving diagnostic accuracy and streamlining clinical workflows. The developed pipeline is also applicable in other cytological settings. Our codes and dataset are available online for further research.

Drug-side effect prediction has become an essential area of research in the field of pharmacology. As the use of medications continues to rise, so does the importance of understanding and mitigating the potential risks associated with them. At present, researchers have turned to data-driven methods to predict drug-side effects. Drug-side effect prediction is a link prediction problem, and the related data can be described from various perspectives. To process these kinds of data, a multi-view method, called Multiple Kronecker RLS fusion-based link propagation (MKronRLSF-LP), is proposed. MKronRLSF-LP extends the Kron-RLS by finding the consensus partitions and multiple graph Laplacian constraints in the multi-view setting. Both of these multi-view settings contribute to a higher quality result. Extensive experiments have been conducted on drug-side effect datasets, and our empirical results provide evidence that our approach is effective and robust.

Group decision-making (GDM) characterized by complexity and uncertainty is an essential part of various life scenarios. Most existing researches lack tools to fuse information quickly and interpret decision results for partially formed decisions. This limitation is particularly noticeable when there is a need to improve the efficiency of GDM. To address this issue, a novel multi-level sequential three-way decision for group decision-making (S3W-GDM) method is constructed from the perspective of granular computing. This method simultaneously considers the vagueness, hesitation, and variation of GDM problems under double hierarchy hesitant fuzzy linguistic term sets (DHHFLTS) environment. First, for fusing information efficiently, a novel multi-level expert information fusion method is proposed, and the concepts of expert decision table and the extraction/aggregation of decision-leveled information based on the multi-level granularity are defined. Second, the neighborhood theory, outranking relation and regret theory (RT) are utilized to redesign the calculations of conditional probability and relative loss function. Then, the granular structure of DHHFLTS based on the sequential three-way decision (S3WD) is defined to improve the decision-making efficiency, and the decision-making strategy and interpretation of each decision-level are proposed. Furthermore, the algorithm of S3W-GDM is given. Finally, an illustrative example of diagnosis is presented, and the comparative and sensitivity analysis with other methods are performed to verify the efficiency and rationality of the proposed method.

The essence of precision oncology lies in its commitment to tailor targeted treatments and care measures to each patient based on the individual characteristics of the tumor. The inherent heterogeneity of tumors necessitates gathering information from diverse data sources to provide valuable insights from various perspectives, fostering a holistic comprehension of the tumor. Over the past decade, multimodal data integration technology for precision oncology has made significant strides, showcasing remarkable progress in understanding the intricate details within heterogeneous data modalities. These strides have exhibited tremendous potential for improving clinical decision-making and model interpretation, contributing to the advancement of cancer care and treatment. Given the rapid progress that has been achieved, we provide a comprehensive overview of about 300 papers detailing cutting-edge multimodal data integration techniques in precision oncology. In addition, we conclude the primary clinical applications that have reaped significant benefits, including early assessment, diagnosis, prognosis, and biomarker discovery. Finally, derived from the findings of this survey, we present an in-depth analysis that explores the pivotal challenges and reveals essential pathways for future research in the field of multimodal data integration for precision oncology.

We study the problem of fusing pre-trained (auxiliary) generative models to enhance the training of a target generative model. We propose using KL-divergence weighted barycenters as an optimal fusion mechanism, in which the barycenter weights are optimally trained to minimize a suitable loss for the target population. While computing the optimal KL-barycenter weights can be challenging, we demonstrate that this process can be efficiently executed using diffusion score training when the auxiliary generative models are also trained based on diffusion score methods. Moreover, we show that our fusion method has a dimension-free sample complexity in total variation distance provided that the auxiliary models are well fitted for their own task and the auxiliary tasks combined capture the target well. The main takeaway of our method is that if the auxiliary models are well-trained and can borrow features from each other that are present in the target, our fusion method significantly improves the training of generative models. We provide a concise computational implementation of the fusion algorithm, and validate its efficiency in the low-data regime with numerical experiments involving mixtures models and image datasets.

Semantic location prediction aims to derive meaningful location insights from multimodal social media posts, offering a more contextual understanding of daily activities than using GPS coordinates. This task faces significant challenges due to the noise and modality heterogeneity in "text-image" posts. Existing methods are generally constrained by inadequate feature representations and modal interaction, struggling to effectively reduce noise and modality heterogeneity. To address these challenges, we propose a Similarity-Guided Multimodal Fusion Transformer (SG-MFT) for predicting the semantic locations of users from their multimodal posts. First, we incorporate high-quality text and image representations by utilizing a pre-trained large vision-language model. Then, we devise a Similarity-Guided Interaction Module (SIM) to alleviate modality heterogeneity and noise interference by incorporating both coarse-grained and fine-grained similarity guidance for improving modality interactions. Specifically, we propose a novel similarity-aware feature interpolation attention mechanism at the coarse-grained level, leveraging modality-wise similarity to mitigate heterogeneity and reduce noise within each modality. At the fine-grained level, we utilize a similarity-aware feed-forward block and element-wise similarity to further address the issue of modality heterogeneity. Finally, building upon pre-processed features with minimal noise and modal interference, we devise a Similarity-aware Fusion Module (SFM) to fuse two modalities with a cross-attention mechanism. Comprehensive experimental results clearly demonstrate the superior performance of our proposed method.

There is a recent boom in the development of AI solutions to facilitate and enhance diagnostic procedures for established clinical tools. To assess the integrity of the developing nervous system, the Prechtl general movement assessment (GMA) is recognized for its clinical value in diagnosing neurological impairments in early infancy. GMA has been increasingly augmented through machine learning approaches intending to scale-up its application, circumvent costs in the training of human assessors and further standardize classification of spontaneous motor patterns. Available deep learning tools, all of which are based on single sensor modalities, are however still considerably inferior to that of well-trained human assessors. These approaches are hardly comparable as all models are designed, trained and evaluated on proprietary/silo-data sets. With this study we propose a sensor fusion approach for assessing fidgety movements (FMs) comparing three different sensor modalities (pressure, inertial, and visual sensors). Various combinations and two sensor fusion approaches (late and early fusion) for infant movement classification were tested to evaluate whether a multi-sensor system outperforms single modality assessments. The performance of the three-sensor fusion (classification accuracy of 94.5\%) was significantly higher than that of any single modality evaluated, suggesting the sensor fusion approach is a promising avenue for automated classification of infant motor patterns. The development of a robust sensor fusion system may significantly enhance AI-based early recognition of neurofunctions, ultimately facilitating automated early detection of neurodevelopmental conditions.

Multi-modal learning plays a crucial role in cancer diagnosis and prognosis. Current deep learning based multi-modal approaches are often limited by their abilities to model the complex correlations between genomics and histology data, addressing the intrinsic complexity of tumour ecosystem where both tumour and microenvironment contribute to malignancy. We propose a biologically interpretative and robust multi-modal learning framework to efficiently integrate histology images and genomics by decomposing the feature subspace of histology images and genomics, reflecting distinct tumour and microenvironment features. To enhance cross-modal interactions, we design a knowledge-driven subspace fusion scheme, consisting of a cross-modal deformable attention module and a gene-guided consistency strategy. Additionally, in pursuit of dynamically optimizing the subspace knowledge, we further propose a novel gradient coordination learning strategy. Extensive experiments demonstrate the effectiveness of the proposed method, outperforming state-of-the-art techniques in three downstream tasks of glioma diagnosis, tumour grading, and survival analysis. Our code is available at https://github.com/helenypzhang/Subspace-Multimodal-Learning.

This remarkable advancement can be attributed to two key factors: the exponential rise in computational power and the ever-increasing availability of vast datasets [1-3]. However, the very foundation upon which this progress rests-data collection and labeling-presents significant challenges that can hinder the efficacy and ethical implementation of ML models[4-8]. This review paper delves into the intricate world of data collection and labeling for machine learning, drawing upon insights from both the data management and machine learning communities. The transformative potential of machine learning is evident across a multitude of domains. From revolutionizing healthcare with disease diagnosis and personalized medicine[9] to powering selfdriving cars[10] and optimizing logistics in supply chains[11], ML algorithms are rapidly reshaping our world. At the heart of these advancements lies the ability of ML models to learn from data, identify patterns, and make predictions based on the information they have been exposed to. The quality and quantity of data used to train these models are paramount to their success. High-quality, diverse, and well-labeled data are essential for building robust and generalizable ML models that can perform effectively in real-world scenarios [12, 13].