Author name cluster

Kui Wu

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

7 papers

1 author row

NeurIPS Conference 2025 Conference Paper

Learning to Control Free-Form Soft Swimmers

Changyu Hu
Yanke Qu
Qiuan Yang
Xiaoyu Xiong
Kui Wu
Wei Li
Tao Du

Swimming in nature achieves remarkable performance through diverse morphological adaptations and intricate solid-fluid interaction, yet exploring this capability in artificial soft swimmers remains challenging due to the high-dimensional control complexity and the computational cost of resolving hydrodynamic details. Traditional approaches often rely on morphology-dependent heuristics and simplified fluid models, which constrain exploration and preclude advanced strategies like vortex exploitation. To address this, we propose an automated framework that combines a unified, reduced-mode control space with a high-fidelity GPU-accelerated simulator. Our control space naturally captures deformation patterns for diverse morphologies, minimizing manual design, while our simulator efficiently resolves the crucial fluid-structure interactions required for learning. We evaluate our method on a wide range of morphologies, from bio-inspired to unconventional. From this general framework, high-performance swimming patterns emerge that qualitatively reproduce canonical gaits observed in nature without requiring domain-specific priors, where state-of-the-art baselines often fail, particularly on complex topologies like a torus. Our work lays a foundation for future opportunities in automated co-design of soft robots in complex hydrodynamic environments. The code is available at https: //github. com/changyu-hu/FreeFlow.

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NeurIPS Conference 2025 Conference Paper

REDOUBT: Duo Safety Validation for Autonomous Vehicle Motion Planning

Shuguang Wang
Qian Zhou
Kui Wu
Dapeng Wu
Wei-Bin Lee
Jianping Wang

Safety validation, which assesses the safety of an autonomous system's motion planning decisions, is critical for the safe deployment of autonomous vehicles. Existing input validation techniques from other machine learning domains, such as image classification, face unique challenges in motion planning due to its contextual properties, including complex inputs and one-to-many mapping. Furthermore, current output validation methods in autonomous driving primarily focus on open-loop trajectory prediction, which is ill-suited for the closed-loop nature of motion planning. We introduce REDOUBT, the first systematic safety validation framework for autonomous vehicle motion planning that employs a duo mechanism, simultaneously inspecting input distributions and output uncertainty. REDOUBT identifies previously overlooked unsafe modes arising from the interplay of In-Distribution/Out-of-Distribution (OOD) scenarios and certain/uncertain planning decisions. We develop specialized solutions for both OOD detection via latent flow matching and decision uncertainty estimation via an energy-based approach. Our extensive experiments demonstrate that both modules outperform existing approaches, under both open-loop and closed-loop evaluation settings. Our codes are available at: https: //github. com/sgNicola/Redoubt.

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NeurIPS Conference 2024 Conference Paper

BehaviorGPT: Smart Agent Simulation for Autonomous Driving with Next-Patch Prediction

Zikang Zhou
Haibo Hu
Xinhong Chen
Jianping Wang
Nan Guan
Kui Wu
Yung-Hui Li
Yu-Kai Huang

Simulating realistic behaviors of traffic agents is pivotal for efficiently validating the safety of autonomous driving systems. Existing data-driven simulators primarily use an encoder-decoder architecture to encode the historical trajectories before decoding the future. However, the heterogeneity between encoders and decoders complicates the models, and the manual separation of historical and future trajectories leads to low data utilization. Given these limitations, we propose BehaviorGPT, a homogeneous and fully autoregressive Transformer designed to simulate the sequential behavior of multiple agents. Crucially, our approach discards the traditional separation between "history" and "future" by modeling each time step as the "current" one for motion generation, leading to a simpler, more parameter- and data-efficient agent simulator. We further introduce the Next-Patch Prediction Paradigm (NP3) to mitigate the negative effects of autoregressive modeling, in which models are trained to reason at the patch level of trajectories and capture long-range spatial-temporal interactions. Despite having merely 3M model parameters, BehaviorGPT won first place in the 2024 Waymo Open Sim Agents Challenge with a realism score of 0. 7473 and a minADE score of 1. 4147, demonstrating its exceptional performance in traffic agent simulation.

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AAAI Conference 2024 Conference Paper

Learning Reduced Fluid Dynamics

Zherong Pan
Xifeng Gao
Kui Wu

Predicting the state evolution of ultra high-dimensional, time-reversible fluid dynamic systems is a crucial but computationally expensive task. Existing physics-informed neural networks either incur high inference cost or cannot preserve the time-reversible nature of the underlying dynamics system. We propose a model-based approach to identify low-dimensional, time reversible, nonlinear fluid dynamic systems. Our method utilizes the symplectic structure of reduced Eulerian fluid and use stochastic Riemann optimization to obtain a low-dimensional bases that minimize the expected trajectory-wise dimension-reduction error over a given distribution of initial conditions. We show that such minimization is well-defined since the reduced trajectories are differentiable with respect to the subspace bases over the entire Grassmannian manifold, under proper choices of timestep sizes and numerical integrators. Finally, we propose a loss function measuring the trajectory-wise discrepancy between the original and reduced models. By tensor precomputation, we show that gradient information of such loss function can be evaluated efficiently over a long trajectory without time-integrating the high-dimensional dynamic system. Through evaluations on a row of simulation benchmarks, we show that our method reduces the discrepancy by 50-90 percent over conventional reduced models and we outperform PINNs by exactly preserving the time reversibility.

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NeurIPS Conference 2022 Conference Paper

Refining Low-Resource Unsupervised Translation by Language Disentanglement of Multilingual Translation Model

Xuan-Phi Nguyen
Shafiq Joty
Kui Wu
Ai Ti Aw

Numerous recent work on unsupervised machine translation (UMT) implies that competent unsupervised translations of low-resource and unrelated languages, such as Nepali or Sinhala, are only possible if the model is trained in a massive multilingual environment, where these low-resource languages are mixed with high-resource counterparts. Nonetheless, while the high-resource languages greatly help kick-start the target low-resource translation tasks, the language discrepancy between them may hinder their further improvement. In this work, we propose a simple refinement procedure to separate languages from a pre-trained multilingual UMT model for it to focus on only the target low-resource task. Our method achieves the state of the art in the fully unsupervised translation tasks of English to Nepali, Sinhala, Gujarati, Latvian, Estonian and Kazakh, with BLEU score gains of 3. 5, 3. 5, 3. 3, 4. 1, 4. 2, and 3. 3, respectively. Our codebase is available at https: //github. com/nxphi47/refine unsup multilingual_mt

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NeurIPS Conference 2020 Conference Paper

Data Diversification: A Simple Strategy For Neural Machine Translation

Xuan-Phi Nguyen
Shafiq Joty
Kui Wu
Ai Ti Aw

We introduce Data Diversification: a simple but effective strategy to boost neural machine translation (NMT) performance. It diversifies the training data by using the predictions of multiple forward and backward models and then merging them with the original dataset on which the final NMT model is trained. Our method is applicable to all NMT models. It does not require extra monolingual data like back-translation, nor does it add more computations and parameters like ensembles of models. Our method achieves state-of-the-art BLEU scores of 30. 7 and 43. 7 in the WMT'14 English-German and English-French translation tasks, respectively. It also substantially improves on 8 other translation tasks: 4 IWSLT tasks (English-German and English-French) and 4 low-resource translation tasks (English-Nepali and English-Sinhala). We demonstrate that our method is more effective than knowledge distillation and dual learning, it exhibits strong correlation with ensembles of models, and it trades perplexity off for better BLEU score.

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IS Journal 2010 Journal Article

A Comparative Study of Mobile-Based Landmark Recognition Techniques

Kim-Hui Yap
Tao Chen
Zhen Li
Kui Wu

Mobile-based landmark recognition is becoming increasingly appealing due to the proliferation of mobile devices coupled with improving processing techniques, imaging capability, and networking infrastructure. This article provides a general overview of existing mobile-based and nonmobile-based landmark recognition systems and their differences. We discuss content and context analysis and compare landmark classification methods. We also present the experimental results of our own mobile landmark recognition evaluations based on content analysis, context analysis, and integrated content-context analysis.

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