Wenli Xiao

Research

Co-Lead

ASAP: Aligning Simulation and Real-World Physics

RSS 2024

ASAP learns agile whole-body humanoid motions via learning a residual action model from the real world to align sim and real physics.

Tairan He*, Jiawei Gao*, Wenli Xiao*, Yuanhang Zhang*, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica Hodgins, Linxi 'Jim' Fan, Yuke Zhu, Changliu Liu, Guanya Shi

arXiv Website Code ★ 1,928 Twitter

Co-Lead

Self-Improving Vision-Language-Action Models with Data Generation via Residual RL

ICLR 2026

PLD (Probe, Learn, Distill) is a plug-and-play recipe for Vision-Language-Action (VLA) post-training. It is model agnostic, supporting both autoregressive and diffusion architectures, and can push success rates to 99%.

Wenli Xiao*, Haotian Lin*, Andy Peng, Haoru Xue, Tairan He, Yuqi Xie, Fengyuan Hu, Jimmy Wu, Zhengyi Luo, Linxi "Jim" Fan†, Guanya Shi, Yuke Zhu†

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Co-Lead1 / 15

ENPIRE: Agentic Robot Policy Self-Improvement in the Real World

In submission

Physical Autoresearch on real-world Robot Fleet. ENPIRE lets coding agents autonomously improve robot manipulation policies through a closed-loop physical feedback system—automatic environment reset and verification, parallel robot rollouts, and evolutionary refinement—reaching a 99% success rate on challenging dexterous manipulation tasks.

Wenli Xiao*, Jia Xie*, Tonghe Zhang*, Haotian Lin*, Letian "Max" Fu, Haoru Xue, Jalen Lu, Yi Yang, Cunxi Dai, Zi Wang, Jimmy Wu, Guanzhi Wang, S. Shankar Sastry, Ken Goldberg, Linxi "Jim" Fan‡, Yuke Zhu‡, Guanya Shi‡

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Wenli Xiao

I am currently a Research Intern at Physical Intelligence.

I'm a final-year PhD student at CMU Robotics, advised by Prof. Guanya Shi. I am a full-stack roboticist, with experience ranging from gripper hardware design to large-scale VLA pre-training. My vision is to build scalable general intelligent robots in the real world.

I spent two wonderful years (2024-2026) interning at NVIDIA GEAR Lab, doing Foundation Model Post-training and Physical Auto-Research with Dr. Jim Fan and Prof. Yuke Zhu.

ENPIRE: Agentic Robot Policy Self-Improvement in the Real World

In submission

TL;DR: Physical Autoresearch on real-world Robot Fleet. ENPIRE lets coding agents autonomously improve robot manipulation policies through a closed-loop physical feedback system—automatic environment reset and verification, parallel robot rollouts, and evolutionary refinement—reaching a 99% success rate on challenging dexterous manipulation tasks.

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots

ICRA 2025

TL;DR: HOVER is a 1.5M-parameter neural network to control the body of a humanoid robot. It takes a lot of subconscious processing for us humans to walk, maintain balance, and maneuver our arms and legs into desired positions. We capture this 'subconsciousness' in HOVER, a single model that learns how to coordinate the motors of a humanoid robot to support locomotion and manipulation.

CaP-X: Benchmarking and Improving Coding Agents for Robot Manipulation

ICML 2026

TL;DR: CaP-X introduces CaP-Agent0, a training-free agentic framework enabling off-the-shelf LLMs to perform robotic manipulation via code generation, and CaP-Bench, a comprehensive evaluation suite of 100+ tasks. Frontier models achieve 30%+ zero-shot success on unseen tasks with 18% on perturbed tasks (vs. 0% for VLA models), and a 7B model improves from 20% to 72% in sim with 84% real-world transfer.

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

RSS 2024 (Outstanding Student Paper Award Finalist - Top 3)

ICRA 2024, Agile Robotics Workshop (Spotlight)

TL;DR: Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety, or focus on agility without considering potentially fatal collisions. This paper introduces Agile But Safe (ABS), a learning-based control framework that enables agile and collision-free locomotion for quadrupedal robots.

Safe Deep Policy Adaptation

ICRA 2024

CoRL 2023 Deployable Workshop

TL;DR: This paper jointly tackles policy adaptation and safe reinforcement learning with safety guarantees. Comprehensive experiments on (1) classic control problems (Inverted Pendulum), (2) simulation benchmarks (Safety Gym), and (3) a real-world agile robotics platform (RC Car) demonstrate great superiority of SafeDPA in both safety and task performance, over state-of-the-art baselines.

Research

ASAP: Aligning Simulation and Real-World Physics

Self-Improving Vision-Language-Action Models with Data Generation via Residual RL

ENPIRE: Agentic Robot Policy Self-Improvement in the Real World

News

Research Projects

Authors

ENPIRE: Agentic Robot Policy Self-Improvement in the Real World

Authors

Self-Improving Vision-Language-Action Models with Data Generation via Residual RL

Authors

ASAP: Aligning Simulation and Real-World Physics

Authors

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots

Authors

AnyCar to Anywhere: Learning Universal Dynamics Model

Authors

CaP-X: Benchmarking and Improving Coding Agents for Robot Manipulation

Authors

DoorMan: Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer

Authors

VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation

Authors

SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control

Authors

Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control

Authors

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Authors

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts

Authors

Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation

Authors

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

Authors

Safe Deep Policy Adaptation

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