Author

Yi-Xuan Zhou

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Preprint Sep 2026

WM-VS: Progress-Aligned World Models for Closed-Loop Visual Servoing

Closed-loop visual servoing requires predictions that indicate whether an action reduces task error, not only whether the action is plausible. We call this gap the prediction-control mismatch and introduce WM-VS, a target-centric progress-aligned world-model framework for closed-loop visual servoing. Offline target-reg...

Guan-Zhong Sun, Jun-Yi Ma, Yi-Xuan Zhou et al. · 0 citations

Preprint Sep 2026

PhyVisGen: Physically and Visually High-Fidelity Robotic Manipulation Data Generation

Large-scale manipulation demonstrations are essential for learning robust visuomotor policies, yet real-world data collection is expensive and difficult to scale. Simulation offers a promising alternative, but physical and visual discrepancies can limit the transferability of synthetic data, particularly for manipulati...

Yu Zheng, Qi-Yu Feng, Yi-Xin Wu et al. · 0 citations