Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird's eye view fusion through geometric transformations. However, these approaches often suffer from limited interpretability or dense computational overhead. In this paper, we introduce GaussianFusion, a Gaussian-based multi-sensor fusion framework for end-to-end autonomous driving. Our method employs intuitive and compact Gaussian representations as intermediate carriers to aggregate information from diverse sensors. Specifically, we initialize a set of 2D Gaussians uniformly across the driving scene, where each Gaussian is parameterized by physical attributes and equipped with explicit and implicit features. These Gaussians are progressively refined by integrating multi-modal features. The explicit features capture rich semantic and spatial information about the traffic scene, while the implicit features provide complementary cues beneficial for trajectory planning. To fully exploit rich spatial and semantic information in Gaussians, we design a cascade planning head that iteratively refines trajectory predictions through interactions with Gaussians. Extensive experiments on the NAVSIM and Bench2Drive benchmarks demonstrate the effectiveness and robustness of the proposed GaussianFusion framework. The source code will be released at https://github.com/Say2L/GaussianFusion.

Multi-task model merging aims to consolidate knowledge from multiple fine-tuned task-specific experts into a unified model while minimizing performance degradation. Existing methods primarily approach this by minimizing differences between task-specific experts and the unified model, either from a parameter-level or a task-loss perspective. However, parameter-level methods exhibit a significant performance gap compared to the upper bound, while task-loss approaches entail costly secondary training procedures. In contrast, we observe that performance degradation closely correlates with feature drift, i.e., differences in feature representations of the same sample caused by model merging. Motivated by this observation, we propose Layer-wise Optimal Task Vector Merging (LOT Merging), a technique that explicitly minimizes feature drift between task-specific experts and the unified model in a layer-by-layer manner. LOT Merging can be formulated as a convex quadratic optimization problem, enabling us to analytically derive closed-form solutions for the parameters of linear and normalization layers. Consequently, LOT Merging achieves efficient model consolidation through basic matrix operations. Extensive experiments across vision and vision-language benchmarks demonstrate that LOT Merging significantly outperforms baseline methods, achieving improvements of up to 4.4% (ViT-B/32) over state-of-the-art approaches. The source code is available at https://github.com/SunWenJu123/model-merging.

Accurate protein function prediction requires integrating heterogeneous intrinsic signals (e.g., sequence and structure) with noisy extrinsic contexts (e.g., protein-protein interactions and GO term annotations). However, two key challenges hinder effective fusion: (i) cross-modal distributional mismatch among embeddings produced by pre-trained intrinsic encoders, and (ii) noisy relational graphs of extrinsic data that degrade GNN-based information aggregation. We propose Diffused and Aligned Multi-modal Protein Embedding (DAMPE), a unified framework that addresses these through two core mechanisms. First, we propose Optimal Transport (OT)-based representation alignment that establishes correspondence between intrinsic embedding spaces of different modalities, effectively mitigating cross-modal heterogeneity. Second, we develop a Conditional Graph Generation (CGG)-based information fusion method, where a condition encoder fuses the aligned intrinsic embeddings to provide informative cues for graph reconstruction. Meanwhile, our theoretical analysis implies that the CGG objective drives this condition encoder to absorb graph-aware knowledge into its produced protein representations. Empirically, DAMPE outperforms or matches state-of-the-art methods such as DPFunc on standard GO benchmarks, achieving AUPR gains of 0.002-0.013 pp and Fmax gains 0.004-0.007 pp. Ablation studies further show that OT-based alignment contributes 0.043-0.064 pp AUPR, while CGG-based fusion adds 0.005-0.111 pp Fmax. Overall, DAMPE offers a scalable and theoretically grounded approach for robust multi-modal protein representation learning, substantially enhancing protein function prediction.

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios characterized by sensor degradation or environmental disturbances. We propose a novel Adaptive Gated Fusion (AG-Fusion) approach that selectively integrates cross-modal knowledge by identifying reliable patterns for robust detection in complex scenes. Specifically, we first project features from each modality into a unified BEV space and enhance them using a window-based attention mechanism. Subsequently, an adaptive gated fusion module based on cross-modal attention is designed to integrate these features into reliable BEV representations robust to challenging environments. Furthermore, we construct a new dataset named Excavator3D (E3D) focusing on challenging excavator operation scenarios to benchmark performance in complex conditions. Our method not only achieves competitive performance on the standard KITTI dataset with 93.92% accuracy, but also significantly outperforms the baseline by 24.88% on the challenging E3D dataset, demonstrating superior robustness to unreliable modal information in complex industrial scenes.

This paper introduces an intelligent water-saving irrigation system designed to address critical challenges in precision agriculture, such as inefficient water use and poor terrain adaptability. The system integrates advanced computer vision, robotic control, and real-time stabilization technologies via a multi-sensor fusion approach. A lightweight YOLO model, deployed on an embedded vision processor (K210), enables real-time plant container detection with over 96% accuracy under varying lighting conditions. A simplified hand-eye calibration algorithm-designed for 'handheld camera' robot arm configurations-ensures that the end effector can be precisely positioned, with a success rate exceeding 90%. The active leveling system, driven by the STM32F103ZET6 main control chip and JY901S inertial measurement data, can stabilize the irrigation platform on slopes up to 10 degrees, with a response time of 1.8 seconds. Experimental results across three simulated agricultural environments (standard greenhouse, hilly terrain, complex lighting) demonstrate a 30-50% reduction in water consumption compared to conventional flood irrigation, with water use efficiency exceeding 92% in all test cases.

High Dynamic Range (HDR) imaging aims to reproduce the wide range of brightness levels present in natural scenes, which the human visual system can perceive but conventional digital cameras often fail to capture due to their limited dynamic range. To address this limitation, we propose a deep learning-based multi-exposure fusion approach for HDR image generation. The method takes a set of differently exposed Low Dynamic Range (LDR) images, typically an underexposed and an overexposed image, and learns to fuse their complementary information using a convolutional neural network (CNN). The underexposed image preserves details in bright regions, while the overexposed image retains information in dark regions; the network effectively combines these to reconstruct a high-quality HDR output. The model is trained in an unsupervised manner, without relying on ground-truth HDR images, making it practical for real-world applications where such data is unavailable. We evaluate our results using the Multi-Exposure Fusion Structural Similarity Index Measure (MEF-SSIM) and demonstrate that our approach achieves superior visual quality compared to existing fusion methods. A customized loss function is further introduced to improve reconstruction fidelity and optimize model performance.

Abstract-- T o address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the localization scenarios and the problem model are analyzed. An integrated architecture of Attention Mechanism-based Fusion Algorithm (AMF A) incorporating planar array Ultra-Wideband (UWB), GPS, Inertial Measurement Unit (IMU), and barometer is designed to handle challenges such as GPS occlusion and UWB Non-Line-of-Sight (NLOS) problem. Then, End-to-end neural network inference models for UWB and barometer are developed, along with a multimodal attention mechanism for adaptive data fusion. An Unscented Kalman Filter (UKF) is applied to refine the trajectory, improving accuracy and robustness. Finally, real-world experiments show that the method achieves 0.48 m localization accuracy and lower MAX error of 1.50 m, outperforming baseline algorithms such as GPS/INS-EKF and demonstrating stronger robustness.

Collective perception is a key aspect for autonomous driving in smart cities as it aims to combine the local environment models of multiple intelligent vehicles in order to overcome sensor limitations. A crucial part of multi-sensor fusion is track-to-track association. Previous works often suffer from high computational complexity or are based on heuristics. We propose an association algorithms based on stochastic optimization, which leverages a multidimensional likelihood incorporating the number of tracks and their spatial distribution and furthermore computes several association hypotheses. We demonstrate the effectiveness of our approach in Monte Carlo simulations and a realistic collective perception scenario computing high-likelihood associations in ambiguous settings.

Model merging is an efficient post-training strategy for integrating knowledge from multiple finetuned checkpoints of a shared foundation model. Existing methods operate in the parameter space, combining task vectors to mitigate conflicts, but remain constrained by parameter inconsistencies. We propose Functional Dual Anchors (FDAs), a framework that instead models the input-representation space. FDAs are synthetic inputs whose induced gradients align with task vectors, capturing task-specific functional shifts relative to the pretrained model. We further introduce a principled initialization scheme and show that FDAs are complementary to parameter-space model merging. Comprehensive experiments demonstrate the effectiveness of FDAs in model merging. Model merging has emerged as a promising post-training strategy for integrating knowledge from multiple finetuned checkpoints of foundation models. The core idea is to combine diverse domain knowledge from multiple homologous downstream models into a single unified one (Matena & Raffel, 2022; Jin et al., 2022). Compared to multi-task learning (Ruder, 2017) and continual learning (Wang et al., 2024), model merging is appealing because it consolidates knowledge directly through the parameters of downstream models finetuned from the same pretrained backbone. On the left, we compare multi-task joint training, task arithmetic and FDA. Inspired by joint training, FDA models the knowledge in the input space.

Multimodal learning systems often encounter challenges related to modality imbalance, where a dominant modality may overshadow others, thereby hindering the learning of weak modalities. Conventional approaches often force weak modalities to align with dominant ones in "Learning to be (the same)" (Positive Learning), which risks suppressing the unique information inherent in the weak modalities. To address this challenge, we offer a new learning paradigm: "Learning Not to be" (Negative Learning). Instead of enhancing weak modalities' target-class predictions, the dominant modalities dynamically guide the weak modality to suppress non-target classes. This stabilizes the decision space and preserves modality-specific information, allowing weak modalities to preserve unique information without being over-aligned. We proceed to reveal multimodal learning from a robustness perspective and theoretically derive the Multimodal Negative Learning (MNL) framework, which introduces a dynamic guidance mechanism tailored for negative learning. Our method provably tightens the robustness lower bound of multimodal learning by increasing the Unimodal Confidence Margin (UCoM) and reduces the empirical error of weak modalities, particularly under noisy and imbalanced scenarios. Extensive experiments across multiple benchmarks demonstrate the effectiveness and generalizability of our approach against competing methods. The code will be available at https://github.com/BaoquanGong/Multimodal-Negative-Learning.git.