Skip to main content
. 2026 Jan 8;26(2):408. doi: 10.3390/s26020408
Algorithm 2: CMD Module
[1] Input: Fnoisy, Sclean
            Parameters: Wq,Wk,Wv
[2] Output: Denoised features Fdenoised
1: procedure FORWARD (Fnoisy, Sclean)
2:                    Common latent space
3:          F~ =FnoisyWF,           S~ =ScleanWS
4:                    Noise-aware queries
5:          Q=F~WQd(1+σ^)                                    # Query from noisier modality
6:                    Key and value metrics
7:          K =S~WK                                               # Key from clean modality
8:          V =S~WV                                             # Value from clean modality
9:                    Scaled dot-product
10:       A =SoftmaxQKTV
11:                    Semantic gating mask
12:       G =σ(WgS~)
13:                    Amplified Attention
14:          F^=AG
15:                    Residual fusion
16:          F*=F~+F^
17:                  GDFN
18:         return LN(F~noisy + [ϕW1(d)W1(p)F~noisyW2(d)W2(p)F~noisy])
19: end procedure