Arrow Research search

Author name cluster

Weiguo 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
2 author rows

Possible papers

7

AAAI Conference 2026 Conference Paper

KVmix: Gradient-Based Layer Importance-Aware Mixed-Precision Quantization for KV Cache

  • Fei Li
  • Song Liu
  • Weiguo Wu
  • Shiqiang Nie
  • Jinyu Wang

The high memory demands of the Key-Value (KV) Cache during the inference of Large Language Models (LLMs) severely restrict their deployment in resource-constrained platforms. Quantization can effectively alleviate the memory pressure caused by KV Cache. However, existing methods either rely on static one-size-fits-all precision allocation or fail to dynamically prioritize critical KV in long-context tasks, forcing memory-accuracy-throughput tradeoffs. In this work, we propose a novel mixed-precision quantization method for KV Cache named KVmix. KVmix leverages gradient-based importance analysis to evaluate how individual Key and Value projection matrices affect the model loss, enabling layer-specific bit-width allocation for mix-precision quantization. It dynamically prioritizes higher precision for important layers while aggressively quantizing less influential ones, achieving a tunable balance between accuracy and efficiency. KVmix introduces a dynamic long-context optimization strategy that adaptively keeps full-precision KV pairs for recent pivotal tokens and compresses older ones, achieving high-quality sequence generation with low memory usage. Additionally, KVmix provides efficient low-bit quantization and CUDA kernels to optimize computational overhead. On LLMs such as Llama and Mistral, KVmix achieves near-lossless inference performance with extremely low quantization configuration (Key 2.19bit Value 2.38bit), while delivering a remarkable 4.9× memory compression and a 5.3× speedup in inference throughput.

IROS Conference 2006 Conference Paper

Research on the Walking Modes Shifting Based on the Variable ZMP and 3-D. O. F Inverted Pendulum Model for a Humanoid and Gorilla Robot

  • Weiguo Wu
  • Yu Wang
  • Yunzhong Pan
  • Feng Liang

The walking modes shifting of a gorilla robot is a kind of movements between biped standing state and quadruped landing state. In this paper, the robot mechanism is reduced to a 3-D. O. F inverted pendulum model with variable pendulum length, and the variable ZMP is defined reasonably as a function related to the inverted pendulum angle. Base on dynamic balance theory, the trajectory equation of robot's mass centre during the walking mode shifting is deduced. Furthermore, through inverse kinematics analysis for robot's mass center, the trajectories of joint are obtained. Thus method of trajectory generation about walking mode shifting for humanoid and gorilla robot is proposed. In order to verify the correctness of the method, a calculation example of trajectory generation is provided, and the continuing action simulation including biped walking and quadruped landing action, quadruped walking and standing up action is successfully realized. On the basis of above work, the continuing action experiment including biped walking and walking modes transitions for a humanoid and gorilla robot "GoRoBoT" developed by us is also finished

IROS Conference 2005 Conference Paper

Design, simulation and walking experiments for a humanoid and gorilla robot with multiple locomotion modes

  • Weiguo Wu
  • Yuedong Lang
  • Fuhai Zhang
  • Bingyin Ren

Aim at studying the whole humanoid and gorilla robot, a small integrated combinational gorilla robot with multiple locomotion modes and a humanoid head with facial expressions is presented in the paper. In order to meet the requirement on quadruped walking, a hand with multiple fingers that can also be used as the front foot is designed. A method of generating steady dynamic biped walking patterns based on variable ZMP is proposed. The motion simulation on the biped walking and quadruped walking of the robot by shifting the robot hands as feet is finished by means of a software for dynamics analysis, so that the basic walking ability of the robot can be ensured. On the basis of theoretical research and simulation, the experiments for biped walking and quadruped walking of the gorilla robot are finished successfully.

IROS Conference 2005 Conference Paper

Omni-directional quadruped walking gaits and simulation for a gorilla robot

  • Fuhai Zhang
  • Weiguo Wu
  • Yuedong Lang
  • Bingyin Ren

Gorilla robot is a new-type robot with multiple locomotion modes including biped walking, quadruped walking and brachiate locomotion. In comparison with conventional four-legged walking machines, the mechanism of the robot has particularity and complexity. In order to realize quadruped walking of the gorilla robot, we propose the gaits of forward walking, sideways walking, translational walking and turning walking, respectively. The results of simulation show that these gaits are feasible and efficient.

IROS Conference 1999 Conference Paper

A novel global tracking control method for mobile robots

  • Weiguo Wu
  • Huitang Chen
  • Yuejuan Wang

Concerns trajectory tracking control of mobile robots. In order to overcome the local stability resulting from design methods adapted from linearization, a global asymptotic stable controller, which both achieves global stability margin and avoids winding phenomenon, is designed using a backstepping method. This method breaks down nonlinear systems into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. The stability of the system is easily proven via the Lyapunov function. Abundant simulation results validate the theoretical analysis.

IROS Conference 1999 Conference Paper

Backstepping design for path tracking of mobile robots

  • Weiguo Wu
  • Huitang Chen
  • Yuejuan Wang

From the practical engineering point of view, path tracking control for mobile robots has been investigated. It comes from planning trajectory with the planned geometric path and enables direct tracking of the geometric path. The kinematic model of mobile robots and the desired path are described in polar coordinates. The influence on control performance resulting from the factitious choice of desired reference points is eliminated by considering the polar angle as a parameter. The controller is designed based on a backstepping method, which is systematic and flexible. The convergence of the system is throughout the design procedure. Simulation results are given to verify the proposed control laws.

ICRA Conference 1999 Conference Paper

Optimal Motion Planning for a Wheeled Mobile Robot

  • Weiguo Wu
  • Ping Jiang 0001
  • Huitang Chen

Concerns the time optimal motion planning problem under kinematic and dynamic constraints for a 2-DOF wheeled mobile robot (WMR). The dynamic model of a WMR is derived using a Newton-Euler method and its constraints are analyzed. Kinematic constraints are imposed by its nonholonomy and structural limits while dynamic constraints are due to motor saturation. The motion planning problem is formulated as two stage planning. First, path planning under kinematic constraints is transformed into a pure geometric problem. The shortest path composed of circular arcs and straight lines is obtained. Then, combined with dynamic characteristics of the WMR, a time optimal velocity profile is generated under dynamic constraints. Since constraints of a WMR are fully exploited, the proposed method is simple and effective for motion planning. Simulation results illustrate the capability of the planning scheme.

v2026.09.13