- Article
YOLO-GRAT integrates P3 Cross-Modal Gated Residual Fusion with adaptively weighted Triplet Attention inside backbone C3 bottlenecks of a YOLOv5-based visible–infrared detector. The fusion block combines input-dependent modality mixing, a mean-residual path and pooled-token Transformer refinement; the attention extension learns aggregation weights for three established rotated branches. In the FLIR comparison, each module is added independently to a common dual-stream baseline. Full gives 83.4/44.5% AP/AP versus 80.7/42.1% for that baseline. A separate comparison uses four identified fixed-final M3FD seed-0 checkpoints on the same 840 validation pairs. Their official COCO AP is 57.21% for CFT, 57.48% for CGRF only, 57.40% for weighted Triplet only and 56.85% for Full; Full small-object AP is 35.46 versus CFT 35.95%. The FLIR configuration results motivate the combination, while the identified M3FD results reveal metric-dependent trade-offs. The study evaluates complementary within-stream recalibration and cross-modal interaction at the configuration level, with conclusions scoped to the reported datasets, metrics and training records.
9 November 2026




















![Bodies and minds self-assemble from single cells as a process of alignment and autopoiesis. (A) Most complex biological forms begin as one cell—a fertilized oocyte, commonly thought to be well-described by the laws of physics and chemistry. (B) A gradual, slow process of developmental morphogenesis results in the final form of the organism, which may have complex structure and a mind which may not believe it is a “machine”. Our transformation from a chemical soup into an active embodied mind is continuous but heterogeneous: (C) while we commonly think of ourselves as a unified intelligence with a “centralized” brain, the fact is that even the pineal gland, of which there is only one in the brain, is made of cells (C′) and those cells in turn are made of myriad other active components (C″)—we are a collective intelligence at all scales. (D) The creation of an “individual” out of an excitable medium such as an embryonic blastoderm with hundreds of thousands of cells is a dynamic process that is not hardwired: scratches made in that blastoderm would result in independent self-organization in each island, resulting in multiple embryos forming. This reveals the potentiality for some non-pre-determined number of minds to arise out of the same substrate. Images in (A,B,D) courtesy of Jeremy Guay of Peregrine Creative, used previously in [29]. Image (B) used with permission from [30]. Image in (C′) courtesy of Jose Calvo, Science Photo Library. Image in (C″) courtesy of Evan Ingersoll and Gaël McGill. Image (D) used with permission from [31].](https://mdpi-res.com/philosophies/philosophies-11-00161/article_deploy/html/images/philosophies-11-00161-g001-550.jpg)






