Author

Wen-Si Ai

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Preprint Oct 2026

RoboRender: Robot-Oriented Video Generation for Visual Sim-to-Real Transfer

Results demonstrate that generative video rendering mitigates the visual sim-to-real gap for zero-shot policy transfer, and shows that policy performance improves with more generated videos per simulation trajectory, increasing opening-task success by 65 percentage points.

Huang Huang, Wen-Si Ai, Zi-Yu Chen et al. · 0 citations

#artificial intelligence Preprint Oct 2026

I3L: Iterative Interactive Imitation Learning for Whole-Body Mobile Manipulation

Policies trained offline from teleoperated demonstrations can degrade outside their training distribution. This gap is particularly acute in long-horizon whole-body mobile manipulation, where long horizons amplify compounding errors and coordinated arm, torso, and base motion makes exhaustive demonstration coverage imp...

Wen-Si Ai, Christopher Luey, Karthik Dharmarajan et al. · 0 citations