Author

Jia-Qi Zhang

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Preprint Sep 2026

RoboTwin-Phys: Do WAMs and VLAs Understand the Physical World?

Physical-condition diversity is largely missing from current benchmarks for robot manipulation. While large-scale simulation benchmarks increasingly incorporate variations in object appearance, scene layout, and visual observations, they typically keep the underlying physical parameters fixed. As a result, important so...

Jia-Qi Zhang, Feng Ye, Ming-Jia Yang et al. · 0 citations

Preprint Sep 2026

UMI-Bridge: Action-Anchored Latent Alignment across Human and Robot Manipulation Data

UMI-Bridge, which uses UMI as an intermediate domain to align representations according to action equivalence rather than pixel similarity, supports action-anchored latent alignment for data-efficient robot learning and UMI-to-robot task transfer.

Hai-Yi Liu, Jin-Ming Ma, Ke Rui et al. · 0 citations