Mohan Wang

Nan Ma, Mohan Wang, Yiheng Han et al.

Cross-modality point cloud registration is confronted with significant challenges due to inherent differences in modalities between different sensors. We propose a cross-modality point cloud registration framework FF-LOGO: a cross-modality point cloud registration method with feature filtering and local-global optimization. The cross-modality feature correlation filtering module extracts geometric transformation-invariant features from cross-modality point clouds and achieves point selection by feature matching. We also introduce a cross-modality optimization process, including a local adaptive key region aggregation module and a global modality consistency fusion optimization module. Experimental results demonstrate that our two-stage optimization significantly improves the registration accuracy of the feature association and selection module. Our method achieves a substantial increase in recall rate compared to the current state-of-the-art methods on the 3DCSR dataset, improving from 40.59% to 75.74%. Our code will be available at https://github.com/wangmohan17/FFLOGO.

Jiangbei Hu, Weichao Song, Shibo Yu et al.

Underwater scene reconstruction is essential for immersive exploration of aquatic environments, yet remains challenging due to complex participating-media effects such as absorption and scattering, as well as the limited field of view (FoV) of conventional cameras. Although combining panoramic imaging with 3D Gaussian Splatting (3DGS) offers a promising direction for photorealistic underwater rendering, traditional 3DGS struggles with both spherical projection distortion and underwater medium degradation. In this paper, we propose \textbf{Underwater360}, a physics-informed omnidirectional 3DGS framework for underwater panoramic scene reconstruction. First, we introduce an Omnidirectional Gaussian Splatting module that performs ray casting directly in spherical camera space instead of relying on 2D projection approximations, thereby reducing geometric distortions under 360$^\circ$ FoV. Second, we design a physics-based appearance-medium modeling architecture with pose-conditioned appearance embeddings to explicitly decouple intrinsic scene radiance from depth-dependent backscatter and attenuation, enabling physically grounded scene appearance restoration. Finally, we establish a new panoramic underwater benchmark dataset containing both synthetic and real-world scenes. Extensive experiments demonstrate that Underwater360 achieves superior performance in underwater novel view synthesis and scene appearance restoration, delivering improved rendering quality and cross-view consistency in complex underwater environments. The code and datasets are released at https://github.com/SwcK423/Underwater360

Jiaming Ji, Jiayi Zhou, Hantao Lou et al.

Reinforcement learning from human feedback (RLHF) has proven effective in enhancing the instruction-following capabilities of large language models; however, it remains underexplored in the cross-modality domain. As the number of modalities increases, aligning all-modality models with human intentions -- such as instruction following -- becomes a pressing challenge. In this work, we make the first attempt to fine-tune all-modality models (i.e. input and output with any modality, also named any-to-any models) using human preference data across all modalities (including text, image, audio, and video), ensuring its behavior aligns with human intentions. This endeavor presents several challenges. First, there is no large-scale all-modality human preference data in existing open-source resources, as most datasets are limited to specific modalities, predominantly text and image. Secondly, the effectiveness of binary preferences in RLHF for post-training alignment in complex all-modality scenarios remains an unexplored area. Finally, there is a lack of a systematic framework to evaluate the capabilities of all-modality models, particularly regarding modality selection and synergy. To address these challenges, we propose the align-anything framework, which includes meticulously annotated 200k all-modality human preference data. Then, we introduce an alignment method that learns from unified language feedback, effectively capturing complex modality-specific human preferences and enhancing the model's instruction-following capabilities. Furthermore, to assess performance improvements in all-modality models after post-training alignment, we construct a challenging all-modality capability evaluation framework -- eval-anything. All data, models, and code frameworks have been open-sourced for the community. For more details, please refer to https://github.com/PKU-Alignment/align-anything.

Keke Gai, Mohan Wang, Jing Yu et al.

Multimodal Federated Learning (MFL) with mixed modalities enables unimodal and multimodal clients to collaboratively train models while ensuring clients' privacy. As a representative sample of local data, prototypes offer an approach with low resource consumption and no reliance on prior knowledge for MFL with mixed modalities. However, existing prototype-based MFL methods assume unified labels across clients and identical tasks per client, which is impractical in MFL with mixed modalities. In this work, we propose an Adaptive prototype-based Multimodal Federated Learning (AproMFL) framework for mixed modalities to address the aforementioned issues. Our AproMFL transfers knowledge through adaptively-constructed prototypes without unified labels. Clients adaptively select prototype construction methods in line with labels; server converts client prototypes into unified multimodal prototypes and cluster them to form global prototypes. To address model aggregation issues in task heterogeneity, we develop a client relationship graph-based scheme to dynamically adjust aggregation weights. Furthermore, we propose a global prototype knowledge transfer loss and a global model knowledge transfer loss to enable the transfer of global knowledge to local knowledge. Experimental results show that AproMFL outperforms four baselines on three highly heterogeneous datasets ($α=0.1$) and two heterogeneous tasks, with the optimal results in accuracy and recall being 0.42%~6.09% and 1.6%~3.89% higher than those of FedIoT (FedAvg-based MFL), respectively.