FusionSense: Tri-Stage Near-Sensor Learning for Runtime-Adaptive Multimodal Edge Intelligence
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Computer Science > Machine Learning
arXiv:2605.22868 (cs)
[Submitted on 19 May 2026]
Title:FusionSense: Tri-Stage Near-Sensor Learning for Runtime-Adaptive Multimodal Edge Intelligence
Authors:Sanggeon Yun, Ryozo Masukawa, Minhyoung Na, Hyunwoo Oh, Yoshiki Yamaguchi, Wenjun Huang, SungHeon Jeong, Mohsen Imani
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Abstract:Autonomous systems and smart-industry deployments increasingly split computation across near-sensor, edge, and cloud resources, where tight energy, latency, and reliability budgets demand run-time adaptivity. In practice, deciding what to compute and transmit at each point is pivotal; yet as multimodal sensor suites (cameras, LiDAR/depth, etc.) proliferate at the edge, most prior approaches either (i) fuse modalities on powerful servers or (ii) apply uni-modal near-sensor filters that ignore cross-modal dependencies, leading to redundant transmissions or missed events. We present FusionSense, a fusion-aware intelligent sensing framework for energy-constrained autonomous edge systems. Lightweight near-sensor classifiers are trained via a three-step procedure: (i) a server-side fusion model learns the downstream task, (ii) filter-out-safe (FoS) labels quantify each modality's necessity relative to the fused decision, and (iii) an edge-side fusion model is compacted by injecting near-sensor predictions as auxiliary signals. The result is a run-time decision layer that jointly reduces compute and communication while scaling linearly with sensor count. On a dual-modality (RGB+Depth/LiDAR) setup with SynDrone, FusionSense sustains task quality at substantially higher data-reduction rates than uni-modal filters and delivers large end-to-end gains: up to 33x lower energy at 1% FoI prevalence, 11x at 10%, a 92.3% reduction in quality loss at a fixed 30% data reduction, and roughly 1.5x higher energy savings than the best prior filtering baseline.
| Comments: | Accepted to ISLPED 2026 |
| Subjects: | Machine Learning (cs.LG) |
| Cite as: | arXiv:2605.22868 [cs.LG] |
| (or arXiv:2605.22868v1 [cs.LG] for this version) | |
| https://doi.org/10.48550/arXiv.2605.22868
arXiv-issued DOI via DataCite
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