Changshuo Wang
Publications
PLS-Calib: A Partial Least Squares Framework for Event Camera and Odometry Calibration under Ground Motion Constraints
Accurate extrinsic rotation calibration between sensors is fundamental to the performance of robotic perception systems. However, most existing calibration techniques rely on full 6-DoF motion to excite all degrees of freedom, which is often infeasible for ground-constrained robots with limited motion capabilities. Recent approaches designed for such restricted settings, such as Canonical Correlation Analysis (CCA)-based methods, suffer from ill-conditioned covariance matrices that lead to numerical instability and suboptimal calibration accuracy. To overcome these limitations, we present a novel rotation calibration framework named PLS-Calib that, for the first time, leverages Partial Least Squares (PLS) regression to model the latent kinematic correlations between asynchronous, heterogeneous sensor streams. Specifically, we apply our method to the calibration of an event camera and an odometry onboard a ground robot. To improve event-based pattern detection, we introduce a polarity-aware event representation, which enhances spatiotemporal contrast in circular calibration targets. Our PLS-based formulation yields a closed-form, stable solution that avoids matrix singularities inherent in CCA-based approaches. Extensive experiments on both synthetic and real-world datasets validate the effectiveness of our approach, demonstrating significant improvements in calibration robustness and accuracy over state-of-the-art methods. This work offers a practical and theoretically grounded solution for rotation calibration in constrained robotic systems and opens up new directions for applying statistical learning techniques in neuromorphic vision.
Unveiling the Fragility of Vision-Language Models: Multi-Modal Adversarial Synergy via Texture-Constrained Perturbations and Cross-Modal Optimization
Large Vision-Language Models (LVLMs) have transformed multi-modal understanding, excelling in tasks like image captioning and visual question answering by integrating visual and textual inputs. However, their robustness against adversarial attacks, particularly those exploiting both modalities, remains underexplored, posing risks to critical applications like autonomous driving and content moderation. Existing attacks focus on single modalities or require impractical white-box access, limiting their real-world relevance. In this paper, we introduce Multi-Modal Adversarial Synergy, a groundbreaking framework that crafts universal, black-box multi-modal attacks against LVLMs. MMAS simultaneously generates a texture scale-constrained universal adversarial perturbation for images and a learnable prompt perturbation for text, optimized jointly using only model queries. The image perturbation leverages wavelet-based texture constraints to ensure imperceptibility and robustness across diverse visual inputs. The text perturbation, constrained by an L-norm in the embedding space, maintains semantic coherence while steering outputs toward a target. A novel cross-modal regularization term aligns the perturbations' gradient directions, enhancing their synergistic impact and transferability across tasks and models. Extensive experiments show the strong universal adversarial capabilities of our proposed attack with prevalent LVLMs.
MMPG: MoE-based Adaptive Multi-Perspective Graph Fusion for Protein Representation Learning
Graph Neural Networks (GNNs) have been widely adopted for Protein Representation Learning (PRL), as residue interaction networks can be naturally represented as graphs. Current GNN-based PRL methods typically rely on single-perspective graph construction strategies, which capture partial properties of residue interactions, resulting in incomplete protein representations. To address this limitation, we propose MMPG, a framework that constructs protein graphs from multiple perspectives and adaptively fuses them via Mixture of Experts (MoE) for PRL. MMPG constructs graphs from physical, chemical, and geometric perspectives to characterize different properties of residue interactions. To capture both perspective-specific features and their synergies, we develop an MoE module, which dynamically routes perspectives to specialized experts, where experts learn intrinsic features and cross-perspective interactions. We quantitatively verify that MoE automatically specializes experts in modeling distinct levels of interaction from individual representations, to pairwise inter-perspective synergies, and ultimately to a global consensus across all perspectives. Through integrating this multi-level information, MMPG produces superior protein representations and achieves advanced performance on four different downstream protein tasks.