The performance and safety of autonomous vehicles (AVs) deteriorates under adverse environments and adversarial actors. The investment in multi-sensor, multi-agent (MSMA) AVs is meant to promote improved efficiency of travel and mitigate safety risks. Unfortunately, minimal investment has been made to develop security-aware MSMA sensor fusion pipelines leaving them vulnerable to adversaries. To advance security analysis of AVs, we develop the Multi-Agent Security Testbed, MAST, in the Robot Operating System (ROS2). Our framework is scalable for general AV scenarios and is integrated with recent multi-agent datasets. We construct the first bridge between AVstack and ROS and develop automated AV pipeline builds to enable rapid AV prototyping. We tackle the challenge of deploying variable numbers of agent/adversary nodes at launch-time with dynamic topic remapping. Using this testbed, we motivate the need for security-aware AV architectures by exposing the vulnerability of centralized multi-agent fusion pipelines to (un)coordinated adversary models in case studies and Monte Carlo analysis.

High-throughput omics profiling advancements have greatly enhanced cancer patient stratification. However, incomplete data in multi-omics integration presents a significant challenge, as traditional methods like sample exclusion or imputation often compromise biological diversity and dependencies. Furthermore, the critical task of accurately classifying new patients with partial omics data into existing subtypes is commonly overlooked. To address these issues, we introduce IntegrAO (Integrate Any Omics), an unsupervised framework for integrating incomplete multi-omics data and classifying new samples. IntegrAO first combines partially overlapping patient graphs from diverse omics sources and utilizes graph neural networks to produce unified patient embeddings. Our systematic evaluation across five cancer cohorts involving six omics modalities demonstrates IntegrAO's robustness to missing data and its accuracy in classifying new samples with partial profiles. An acute myeloid leukemia case study further validates its capability to uncover biological and clinical heterogeneity in incomplete datasets. IntegrAO's ability to handle heterogeneous and incomplete data makes it an essential tool for precision oncology, offering a holistic approach to patient characterization.

Speech classification tasks often require powerful language understanding models to grasp useful features, which becomes problematic when limited training data is available. To attain superior classification performance, we propose to harness the inherent value of multimodal representations by transcribing speech using automatic speech recognition (ASR) models and translating the transcripts into different languages via pretrained translation models. We thus obtain an audio-textual (multimodal) representation for each data sample. Subsequently, we combine language-specific Bidirectional Encoder Representations from Transformers (BERT) with Wav2Vec2.0 audio features via a novel cascaded cross-modal transformer (CCMT). Our model is based on two cascaded transformer blocks. The first one combines text-specific features from distinct languages, while the second one combines acoustic features with multilingual features previously learned by the first transformer block. We employed our system in the Requests Sub-Challenge of the ACM Multimedia 2023 Computational Paralinguistics Challenge. CCMT was declared the winning solution, obtaining an unweighted average recall (UAR) of 65.41% and 85.87% for complaint and request detection, respectively. Moreover, we applied our framework on the Speech Commands v2 and HarperValleyBank dialog data sets, surpassing previous studies reporting results on these benchmarks. Our code is freely available for download at: https://github.com/ristea/ccmt.

The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise position and orientation, by integrating measurements from multiple sensors. With observations of each sensor appropriately modelled, multi-sensor fusion tasks for navigation are reduced to the state estimation problem which can be solved by two approaches: optimization and filtering. Recent research has shown that optimization-based frameworks outperform filtering-based ones in terms of accuracy. However, both methods are based on maximum likelihood estimation (MLE) and should be theoretically equivalent with the same linearization points, observation model, measurements, and Gaussian noise assumption. In this paper, we deeply dig into the theories and existing strategies utilized in both optimization-based and filtering-based approaches. It is demonstrated that the two methods are equal theoretically, but this equivalence corrupts due to different strategies applied in real-time operation. By adjusting existing strategies of the filtering-based approaches, the Monte-Carlo simulation and vehicular ablation experiments based on visual odometry (VO) indicate that the strategy adjusted filtering strictly equals to optimization. Therefore, future research on sensor-fusion problems should concentrate on their own algorithms and strategies rather than state estimation approaches.

Our study assesses the adversarial robustness of LiDAR-camera fusion models in 3D object detection. We introduce an attack technique that, by simply adding a limited number of physically constrained adversarial points above a car, can make the car undetectable by the fusion model. Experimental results reveal that even without changes to the image data channel, the fusion model can be deceived solely by manipulating the LiDAR data channel. This finding raises safety concerns in the field of autonomous driving. Further, we explore how the quantity of adversarial points, the distance between the front-near car and the LiDAR-equipped car, and various angular factors affect the attack success rate. We believe our research can contribute to the understanding of multi-sensor robustness, offering insights and guidance to enhance the safety of autonomous driving.

Autonomous surface vessels (ASVs) play an increasingly important role in the safety and sustainability of open sea operations. Since most maritime accidents are related to human failure, intelligent algorithms for autonomous collision avoidance and path following can drastically reduce the risk in the maritime sector. A DT is a virtual representative of a real physical system and can enhance the situational awareness (SITAW) of such an ASV to generate optimal decisions. This work builds on an existing DT framework for ASVs and demonstrates foundations for enabling predictive, prescriptive, and autonomous capabilities. In this context, sophisticated target tracking approaches are crucial for estimating and predicting the position and motion of other dynamic objects. The applied tracking method is enabled by real-time automatic identification system (AIS) data and synthetic light detection and ranging (Lidar) measurements. To guarantee safety during autonomous operations, we applied a predictive safety filter, based on the concept of nonlinear model predictive control (NMPC). The approaches are implemented into a DT built with the Unity game engine. As a result, this work demonstrates the potential of a DT capable of making predictions, playing through various what-if scenarios, and providing optimal control decisions according to its enhanced SITAW.

In this paper, we present a Computer Vision (CV) based tracking and fusion algorithm, dedicated to a 3D printed gimbal system on drones operating in nature. The whole gimbal system can stabilize the camera orientation robustly in a challenging nature scenario by using skyline and ground plane as references. Our main contributions are the following: a) a light-weight Resnet-18 backbone network model was trained from scratch, and deployed onto the Jetson Nano platform to segment the image into binary parts (ground and sky); b) our geometry assumption from nature cues delivers the potential for robust visual tracking by using the skyline and ground plane as a reference; c) a spherical surface-based adaptive particle sampling, can fuse orientation from multiple sensor sources flexibly. The whole algorithm pipeline is tested on our customized gimbal module including Jetson and other hardware components. The experiments were performed on top of a building in the real landscape.

In computational healthcare [3, 72], FMs can handle a variety of clinical data with their appealing capabilities in logical reasoning and semantic understanding. Examples span fields in medical conversation [241, 316], patient health profiling [48], and treatment planning [192]. Moreover, given the strength in largescale data processing, FMs offer a shifting paradigm to assess real-world clinical data in the healthcare workflow rapidly and effectively [208, 261]. FM research places a sharp focus on the data-centric perspective [318]. First, FMs demonstrate the power of scale, where the enlarged model and data size permit FMs to capture vast amounts of information, thus increasing the pressing need of training data quantity [272]. Second, FMs encourage homogenization [21] as evidenced by their extensive adaptability to downstream tasks. High-quality data for FM training thus becomes critical since it can impact the performance of both pre-trained FM and downstream models. Therefore, addressing key data challenges is progressively recognized as a research priority.

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate state estimation and high-rate pose generation for closed-loop control. The first FLS combines ultrawideband (UWB)-based range measurements and VIO to estimate the robot trajectory and any systematic biases that affect the range measurements in cluttered environments. The second FLS estimates smooth corrections to VIO to generate pose estimates at a high rate for online control. The proposed method is lightweight and can run on a computationally constrained micro-aerial vehicle (MAV). We validate our approach through closed-loop flight tests involving dynamic trajectories in multiple real-world cluttered indoor environments. Our method achieves decimeter-to-sub-decimeter-level positioning accuracy using off-the-shelf sensors and decimeter-level tracking accuracy with minimally-tuned open-source controllers.

This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method estimates the positional and rotational offsets of the system of sensors as well as their intrinsic biases without the use of rigid body geometric constraints. Additionally, the filter is flexible in the total number of sensors used while leveraging the commonly used MSCKF framework for camera measurements. The filter framework has been validated using Monte Carlo simulation as well as experimentally. In both simulations and experiments, using multiple IMU measurement streams within the proposed filter framework outperforms the use of a single IMU in a filter prediction step while also producing consistent and accurate estimates of initial calibration errors. Compared to current state-of-the-art optimizers, the filter produces similar intrinsic and extrinsic calibration parameters for each sensor. Finally, an open source repository has been provided at https://github.com/unmannedlab/ekf-cal containing both the online estimator and the simulation used for testing and evaluation.