arXiv subjects

Kerui Wu

Publications and source records attributed to Kerui Wu.

6 recordsLinked to original sources

arXiv2026

Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning

Humans exhibit remarkable motor agility, enabling a wide range of dynamic skills such as running and jumping, which highlights the great potential of humanoid robots for athletic locomotion. Among athletic sports, long rope skipping requires two rope turners to cooperatively swing the rope while adapting to a player under different jumping rhythms, making it a meaningful yet challenging task for humanoid robots. Although existing methods for humanoid sports have achieved success in single-agent and interaction-free settings, such as running, dancing, and parkour, task scenarios that require precise coordination among multiple participants remain largely unexplored. To this end, we propose Marope, a multi-agent reinforcement learning (MARL) framework for cooperative long rope skipping with multiple humanoid robots. Specifically, Marope adopts a hierarchical reinforcement learning framework for policy training. At the lower level, it learns decentralized rope manipulation policies through MARL, while at the upper level, a centralized scheduling policy is trained to coordinate the execution of the lower-level policies. To improve generalization across different player behavioral styles, Marope further incorporates diverse jumping policies into cooperative game training. We evaluate our approach on Unitree G1 humanoid robots in both simulation and real-world settings. Experimental results demonstrate that Marope outperforms various baselines, achieving more efficient and stable rope manipulation as well as more robust and adaptable cooperation with varied players.

cs.RO↗

arXiv2026

Compute Allocation in Evolutionary Search: From Depth-Breadth to Multi-Armed Bandits

LLM-guided evolutionary search (Evolve systems) has reached state-of-the-art results on mathematical and combinatorial tasks, yet most existing systems report only the best of many runs and leave the run-to-run distribution undocumented. We ask how a fixed budget of LLM calls should be allocated, and how reliably a single run reaches the reported numbers. Sweeping the depth-breadth grid over five models and three tasks, we identify two empirical regularities: a fitness-compute envelope along which capability ordering largely collapses on effective FLOPs, and a bilinear depth-breadth fit with task-specific interaction; both are gated by model-task capability. Motivated by these regularities, we propose BaSE (Bandit-based Self-Evolving), a multi-armed bandit that allocates LLM calls across parallel trajectories. Without changing the model, prompt, or evaluator, BaSE improves mean fitness by 12.3% over the strongest island-protocol baseline across 8 (model, task) cells, with the largest gains on high-variance settings: a reliability gain from allocation alone.

cs.CL↗

arXiv2026

ClinicalReTrial: Clinical Trial Redesign with Self-Evolving Agents

Clinical trials constitute a critical yet exceptionally challenging and costly stage of drug development (\$2.6B per drug), where protocols are encoded as complex natural language documents, motivating the use of AI systems beyond manual analysis. Existing AI methods accurately predict trial failure, but do not provide actionable remedies. To fill this gap, this paper proposes ClinicalReTrial, a multi-agent system that formulates clinical trial optimization as an iterative redesign problem on textural protocols. Our method integrates failure diagnosis, safety-aware modifications, and candidate evaluation in a closed-loop, reward-driven optimization framework. Serving the outcome prediction model as a simulation environment, ClinicalReTrial enables low-cost evaluation and dense reward signals for continuous self-improvement. We further propose a hierarchical memory that captures iteration-level feedback within trials and distills transferable redesign patterns across trials. Empirically, ClinicalReTrial improves $83.3\%$ of trial protocols with a mean success probability gain of $5.7\%$ with negligible cost (\$0.12 per trial). Retrospective case studies demonstrate alignment between the discovered redesign strategies and real-world clinical trial modifications. The code is anonymously available at: https://github.com/xingsixue123/ClinicalFailureReasonReTrial.

cs.AI↗

arXiv2025

Large EEG-U-Transformer for Time-Step Level Detection Without Pre-Training

Electroencephalography (EEG) reflects the brain's functional state, making it a crucial tool for diverse detection applications like seizure detection and sleep stage classification. While deep learning-based approaches have recently shown promise for automated detection, traditional models are often constrained by limited learnable parameters and only achieve modest performance. In contrast, large foundation models showed improved capabilities by scaling up the model size, but required extensive time-consuming pre-training. Moreover, both types of existing methods require complex and redundant post-processing pipelines to convert discrete labels to continuous annotations. In this work, based on the multi-scale nature of EEG events, we propose a simple U-shaped model to efficiently learn representations by capturing both local and global features using convolution and self-attentive modules for sequence-to-sequence modeling. Compared to other window-level classification models, our method directly outputs predictions at the time-step level, eliminating redundant overlapping inferences. Beyond sequence-to-sequence modeling, the architecture naturally extends to window-level classification by incorporating an attention-pooling layer. Such a paradigm shift and model design demonstrated promising efficiency improvement, cross-subject generalization, and state-of-the-art performance in various time-step and window-level classification tasks in the experiment. More impressively, our model showed the capability to be scaled up to the same level as existing large foundation models that have been extensively pre-trained over diverse datasets and outperforms them by solely using the downstream fine-tuning dataset. Our model won 1st place in the 2025 "seizure detection challenge" organized in the International Conference on Artificial Intelligence in Epilepsy and Other Neurological Disorders.

cs.LG↗

arXiv2024

On the Adversarial Robustness of Graph Neural Networks with Graph Reduction

As Graph Neural Networks (GNNs) become increasingly popular for learning from large-scale graph data across various domains, their susceptibility to adversarial attacks when using graph reduction techniques for scalability remains underexplored. In this paper, we present an extensive empirical study to investigate the impact of graph reduction techniques, specifically graph coarsening and sparsification, on the robustness of GNNs against adversarial attacks. Through extensive experiments involving multiple datasets and GNN architectures, we examine the effects of four sparsification and six coarsening methods on the poisoning attacks. Our results indicate that, while graph sparsification can mitigate the effectiveness of certain poisoning attacks, such as Mettack, it has limited impact on others, like PGD. Conversely, graph coarsening tends to amplify the adversarial impact, significantly reducing classification accuracy as the reduction ratio decreases. Additionally, we provide a novel analysis of the causes driving these effects and examine how defensive GNN models perform under graph reduction, offering practical insights for designing robust GNNs within graph acceleration systems.

cs.LG↗

arXiv2024

On the Robustness of Graph Reduction Against GNN Backdoor

Graph Neural Networks (GNNs) are gaining popularity across various domains due to their effectiveness in learning graph-structured data. Nevertheless, they have been shown to be susceptible to backdoor poisoning attacks, which pose serious threats to real-world applications. Meanwhile, graph reduction techniques, including coarsening and sparsification, which have long been employed to improve the scalability of large graph computational tasks, have recently emerged as effective methods for accelerating GNN training on large-scale graphs. However, the current development and deployment of graph reduction techniques for large graphs overlook the potential risks of data poisoning attacks against GNNs. It is not yet clear how graph reduction interacts with existing backdoor attacks. This paper conducts a thorough examination of the robustness of graph reduction methods in scalable GNN training in the presence of state-of-the-art backdoor attacks. We performed a comprehensive robustness analysis across six coarsening methods and six sparsification methods for graph reduction, under three GNN backdoor attacks against three GNN architectures. Our findings indicate that the effectiveness of graph reduction methods in mitigating attack success rates varies significantly, with some methods even exacerbating the attacks. Through detailed analyses of triggers and poisoned nodes, we interpret our findings and enhance our understanding of how graph reduction influences robustness against backdoor attacks. These results highlight the critical need for incorporating robustness considerations in graph reduction for GNN training, ensuring that enhancements in computational efficiency do not compromise the security of GNN systems.

cs.LG↗