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

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Real-robot demonstrations are limited, motivating the use of human manipulation data collected without robots, including egocentric videos and handheld Universal Manipulation Interface (UMI) demonstrations. However, differences in viewpoint, embodiment, and available action supervision make it difficult to align representations across these sources according to manipulation motion rather than visual appearance. We introduce UMI-Bridge, which uses UMI as an intermediate domain to align representations according to action equivalence rather than pixel similarity. UMI action supervision anchors t

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