# GRAM-MAMBA: Holistic Feature Alignment for Wireless Perception with Adaptive Low-Rank Compensation

arXiv: https://arxiv.org/abs/2507.13803 · HTML: https://mlsanity.com/paper/2507.13803/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Vision Mamba backbones, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 9 of its 45 references that are in the map.
- First posted on arXiv 18 Jul 2025.

## Placed in

- State-space sequence models (S4, Mamba) / [Vision Mamba backbones](https://mlsanity.com/ssm/vision-mamba-backbones/)

## Builds on (most cited first, 9 of 9)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Parameter-Efficient Transfer Learning for NLP](https://mlsanity.com/paper/1902.00751/) (2019)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [Going deeper with Image Transformers](https://mlsanity.com/paper/2103.17239/) (2021)
- [Multimodal Deep Learning for Robust RGB-D Object Recognition](https://mlsanity.com/paper/1507.06821/) (2015)
- [ImputeFormer: Low Rankness-Induced Transformers for Generalizable Spatiotemporal Imputation](https://mlsanity.com/paper/2312.01728/) (2023)
- [MmWave Radar and Vision Fusion for Object Detection in Autonomous Driving: A Review](https://mlsanity.com/paper/2108.03004/) (2021)

## Abstract (arXiv)

Multi-modal fusion is crucial for Internet of Things (IoT) perception, widely deployed in smart homes, intelligent transport, industrial automation, and healthcare. However, existing systems often face challenges: high model complexity hinders deployment in resource-constrained environments, unidirectional modal alignment neglects inter-modal relationships, and robustness suffers when sensor data is missing. These issues impede efficient and robust multimodal perception in real-world IoT settings. To overcome these limitations, we propose GRAM-MAMBA. This framework utilizes the linear-complexity Mamba model for efficient sensor time-series processing, combined with an optimized GRAM matrix strategy for pairwise alignment among modalities, addressing the shortcomings of traditional single-modality alignment. Inspired by Low-Rank Adaptation (LoRA), we introduce an adaptive low-rank layer compensation strategy to handle missing modalities post-training. This strategy freezes the pre-trained model core and irrelevant adaptive layers, fine-tuning only those related to available modalities and the fusion process. Extensive experiments validate GRAM-MAMBA's effectiveness. On the SPAWC2021 indoor positioning dataset, the pre-trained model shows lower error than baselines; adapting to missing modalities yields a 24.5% performance boost by training less than 0.2% of parameters. On the USC-HAD human activity recognition dataset, it achieves 93.55% F1 and 93.81% Overall Accuracy (OA), outperforming prior work; the update strategy increases F1 by 23% while training less than 0.3% of parameters. These results highlight GRAM-MAMBA's potential for achieving efficient and robust multimodal perception in resource-constrained environments.