Yu Han

Yuxin Shi, Han Yu

Federated learning (FL) enables multiple data owners (a.k.a. FL clients) to collaboratively train machine learning models without disclosing sensitive private data. Existing FL research mostly focuses on the monopoly scenario in which a single FL server selects a subset of FL clients to update their local models in each round of training. In practice, there can be multiple FL servers simultaneously trying to select clients from the same pool. In this paper, we propose a first-of-its-kind Fairness-aware Federated Job Scheduling (FairFedJS) approach to bridge this gap. Based on Lyapunov optimization, it ensures fair allocation of high-demand FL client datasets to FL jobs in need of them, by jointly considering the current demand and the job payment bids, in order to prevent prolonged waiting. Extensive experiments comparing FairFedJS against four state-of-the-art approaches on two datasets demonstrate its significant advantages. It outperforms the best baseline by 31.9% and 1.0% on average in terms of scheduling fairness and convergence time, respectively, while achieving comparable test accuracy.

Yu Han, Zhiwei Huang, Yanting Zhang et al.

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and structured images, especially under sparse single-frame LiDAR settings. Existing methods typically extract features separately from point clouds and images, then rely on hand-crafted or learned matching strategies. This separate encoding fails to bridge the modality gap effectively, and more critically, these methods struggle with the sparsity and noise of single-frame LiDAR, often requiring point cloud accumulation or additional priors to improve reliability. Inspired by recent progress in detector-free matching paradigms (e.g. MatchAnything), we revisit the projection-based approach and introduce the detector-free framework for direct point-pixel matching between LiDAR and camera views. Specifically, we project the LiDAR intensity map into a 2D view from the LiDAR perspective and feed it into an attention-based detector-free matching network, enabling cross-modal correspondence estimation without relying on multi-frame accumulation. To further enhance matching reliability, we introduce a repeatability scoring mechanism that acts as a soft visibility prior. This guides the network to suppress unreliable matches in regions with low intensity variation, improving robustness under sparse input. Extensive experiments on KITTI, nuScenes, and MIAS-LCEC-TF70 benchmarks demonstrate that our method achieves state-of-the-art performance, outperforming prior approaches on nuScenes (even those relying on accumulated point clouds), despite using only single-frame LiDAR.