Author

Yixuan Yuan

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Preprint Aug 2026

Task-Relevant Feature-Dynamics Fidelity Enables Zero-Shot Sim-to-Real Transfer for Robotic Ultrasound Scanning

Robotic ultrasound policies operating directly on B-mode images require extensive interaction data, whereas real-robot data collection is costly and safety-constrained. Simulation provides a scalable alternative, but zero-shot transfer depends not only on single-frame realism but also on whether simulated observations...

Yi-Zhao Qian, Jia-Yuan Luo, Wang Zhu et al. · 0 citations

Preprint Jul 2026

UniMedSeg: Unified In-Context Learning for Multi-Paradigm 2D/3D Medical Image Segmentation

Medical image segmentation foundation models are expected to generalize across diverse clinical scenarios, yet existing universal methods remain fragmented by prompt paradigms and spatial dimensions. Visual in-context learning, interactive segmentation, and language-guided segmentation are typically handled by paradigm...

Yunzhou Li, Jiesi Hu, Yanwu Yang et al. · 0 citations