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Author

Ke Rui

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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
Preprint Aug 2026

Decision-Metric Alignment in Latent World Models: Diagnostics and Action-Conditioned Objectives for MPC Planning

Action-conditioned objectives improve the geometry used by Euclidean-cost, CEM-based latent MPC, and DA-LeWM augments LeWM with inverse-dynamics and demonstration-conditioned goal-action heads, and accelerates convergence and achieves higher online success than LeWM.

Jia-Wei Wang, Ke Rui, Yu-Shen Zuo et al. · 8 citations

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