Researcher profile

Wenjun Wu

Wenjun Wu contributes to research discovery and scholarly infrastructure.

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Artificial Intelligence Robotics Machine Learning Multiagent Systems Computer Vision Neural and Evolutionary Computing

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preprint2026arXiv

Enjoy Your Layer Normalization with the Computational Efficiency of RMSNorm

Layer normalization (LN) is a fundamental component in modern deep learning, but its per-sample centering and scaling introduce non-negligible inference overhead. RMSNorm improves efficiency by removing the centering operation, yet this may discard benefits associated with centering. This paper propose a framework to determine whether an LN in an arbitrary DNN can be replaced by RMSNorm without changing the model function. The key idea is to fold LN's centering operation into upstream general linear layers by enforcing zero-mean outputs through the column-centered constraint (CCC) and column-based weight centering (CBWC). We extend the analysis to arbitrary DNNs, define such LNs as foldable LNs, and develop a graph-based detection algorithm. Our analysis shows that many LNs in widely used architectures are foldable, enabling exact inference-time conversion and end-to-end acceleration of 2% to 12% without changing model predictions. Experiments across multiple task families further show that, when exact equivalence is partially broken in practical training settings, our method remains competitive with vanilla LN while improving efficiency.

preprint2026arXiv

STAR: A Stage-attributed Triage and Repair framework for RCA Agents in Microservices

LLM-based root cause analysis (RCA) agents have recently emerged as a promising paradigm for incident diagnosis in microservice AIOps. However, their reliability remains fragile: an error in early evidence collection, hypothesis formulation, or causal analysis can propagate through the reasoning trace and eventually corrupt the final diagnosis. In this paper, we present \textbf{STAR}, a \emph{Stage-attributed Triage and Repair} framework for repairing erroneous RCA traces. STAR explicitly decomposes an RCA workflow into four structured stages, namely \emph{Evidence Package} (EP), \emph{Hypothesis Set} (HS), \emph{Analysis Structure} (AS), and \emph{Decision Report} (DR), and treats agent failure as a stage-localizable reasoning bug rather than a monolithic end-to-end error. Built on top of LangGraph, STAR performs stage-wise auditing, budget-aware \emph{Fast/Slow Routing}, \emph{decisive stage localization via counterfactual candidate evaluation}, and stage-specific patch-and-replay repair. We evaluate STAR on a public large-scale benchmark and a real-world production dataset, using two RCA agent workflows and three foundation models. Experimental results show that STAR consistently improves both root cause localization and fault type classification over strong baselines. Moreover, STAR identifies the decisive faulty stage with high accuracy, repairs most initially incorrect traces within one or two replay rounds, and benefits substantially from both Fast/Slow Routing and counterfactual stage evaluation. These results suggest that explicitly modeling \emph{where} an RCA agent fails is an effective path toward reliable, debuggable, and self-repairing agentic RCA systems.

preprint2026arXiv

TopoEvo: A Topology-Aware Self-Evolving Multi-Agent Framework for Root Cause Analysis in Microservices

Root cause analysis (RCA) in microservices is challenging due to (i) noisy and heterogeneous multimodal observability (metrics, logs, traces), (ii) cascading failure propagation that amplifies downstream symptoms, and (iii) non-stationary topology drift induced by autoscaling and rolling updates. Recent LLM-based RCA agents can generate tool-grounded explanations, yet they often remain topology-agnostic and suffer from \emph{symptom-amplification bias}, misattributing the root cause to salient downstream victims. We propose \textbf{TopoEvo}, a topology-aware self-evolving multi-agent framework that couples graph representation learning with structured, topology-constrained reasoning. TopoEvo first introduces \emph{Metric-orthogonal Multimodal Alignment} (MOMA), which decomposes metric embeddings into complementary subspaces and contrastively aligns logs and traces to reduce modality redundancy and sparsity, yielding stable node representations for graph encoding. It then applies \emph{Vector Quantization} (VQ) to discretize topology-enhanced states into auditable \emph{symptom tokens} with a symptom lexicon, enabling reliable retrieval and token-level evidence grounding. On top of these discrete topology cues, TopoEvo performs a multi-agent \emph{Hypothesis--Evidence--Test} (HET) workflow to explicitly verify propagation-consistent explanations and separate initiating anomalies from amplified downstream symptoms. Finally, a \emph{Self-Evolving Mechanism} refreshes hierarchical incident memory and performs conservative test-time adaptation with high-confidence pseudo-labels to maintain robustness under drift.

preprint2026arXiv

UrbanNav: Learning Language-Guided Urban Navigation from Web-Scale Human Trajectories

Navigating complex urban environments using natural language instructions poses significant challenges for embodied agents, including noisy language instructions, ambiguous spatial references, diverse landmarks, and dynamic street scenes. Current visual navigation methods are typically limited to simulated or off-street environments, and often rely on precise goal formats, such as specific coordinates or images. This limits their effectiveness for autonomous agents like last-mile delivery robots navigating unfamiliar cities. To address these limitations, we introduce UrbanNav, a scalable framework that trains embodied agents to follow free-form language instructions in diverse urban settings. Leveraging web-scale city walking videos, we develop an scalable annotation pipeline that aligns human navigation trajectories with language instructions grounded in real-world landmarks. UrbanNav encompasses over 1,500 hours of navigation data and 3 million instruction-trajectory-landmark triplets, capturing a wide range of urban scenarios. Our model learns robust navigation policies to tackle complex urban scenarios, demonstrating superior spatial reasoning, robustness to noisy instructions, and generalization to unseen urban settings. Experimental results show that UrbanNav significantly outperforms existing methods, highlighting the potential of large-scale web video data to enable language-guided, real-world urban navigation for embodied agents.

preprint2023arXiv

ESP: Exploiting Symmetry Prior for Multi-Agent Reinforcement Learning

Multi-agent reinforcement learning (MARL) has achieved promising results in recent years. However, most existing reinforcement learning methods require a large amount of data for model training. In addition, data-efficient reinforcement learning requires the construction of strong inductive biases, which are ignored in the current MARL approaches. Inspired by the symmetry phenomenon in multi-agent systems, this paper proposes a framework for exploiting prior knowledge by integrating data augmentation and a well-designed consistency loss into the existing MARL methods. In addition, the proposed framework is model-agnostic and can be applied to most of the current MARL algorithms. Experimental tests on multiple challenging tasks demonstrate the effectiveness of the proposed framework. Moreover, the proposed framework is applied to a physical multi-robot testbed to show its superiority.

preprint2023arXiv

Leveraging Partial Symmetry for Multi-Agent Reinforcement Learning

Incorporating symmetry as an inductive bias into multi-agent reinforcement learning (MARL) has led to improvements in generalization, data efficiency, and physical consistency. While prior research has succeeded in using perfect symmetry prior, the realm of partial symmetry in the multi-agent domain remains unexplored. To fill in this gap, we introduce the partially symmetric Markov game, a new subclass of the Markov game. We then theoretically show that the performance error introduced by utilizing symmetry in MARL is bounded, implying that the symmetry prior can still be useful in MARL even in partial symmetry situations. Motivated by this insight, we propose the Partial Symmetry Exploitation (PSE) framework that is able to adaptively incorporate symmetry prior in MARL under different symmetry-breaking conditions. Specifically, by adaptively adjusting the exploitation of symmetry, our framework is able to achieve superior sample efficiency and overall performance of MARL algorithms. Extensive experiments are conducted to demonstrate the superior performance of the proposed framework over baselines. Finally, we implement the proposed framework in real-world multi-robot testbed to show its superiority.

preprint2022arXiv

Evolutionary Programmer: Autonomously Creating Path Planning Programs based on Evolutionary Algorithms

Evolutionary algorithms are wildly used in unmanned aerial vehicle path planning for their flexibility and effectiveness. Nevertheless, they are so sensitive to the change of environment that can't adapt to all scenarios. Due to this drawback, the previously successful planner frequently fail in a new scene. In this paper, a first-of-its-kind machine learning method named Evolutionary Programmer is proposed to solve this problem. Concretely, the most commonly used Evolutionary Algorithms are decomposed into a series of operators, which constitute the operator library of the system. The new method recompose the operators to a integrated planner, thus, the most suitable operators can be selected for adapting to the changing circumstances. Different from normal machine programmers, this method focuses on a specific task with high-level integrated instructions and thus alleviate the problem of huge search space caused by the briefness of instructions. On this basis, a 64-bit sequence is presented to represent path planner and then evolved with the modified Genetic Algorithm. Finally, the most suitable planner is created by utilizing the information of the previous planner and various randomly generated ones.

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