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

JEPA-style latent world models can use Euclidean distance to a goal latent as the cost for model-predictive control (MPC). Strong decoding of task variables, however, does not guarantee that this particular cost ranks candidate action sequences by real task progress. We call the latter property \emph{decision-metric al...

Jia-Wei Wang, Ke Rui, Yu-Shen Zuo et al. · 4 citations