[Submitted on 17 Sep 2026]
Title:WM-VS: Progress-Aligned World Models for Closed-Loop Visual Servoing
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Abstract: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-region DINOv2 correspondences define a signed four-dimensional servo coordinate for translation, scale, and in-plane rotation. Stage 1 aligns action-conditioned latent transitions with this coordinate; Stage 2 freezes the world model and trains a reactive joint-velocity policy with action imitation, consequence supervision, and short imagined rollouts that favor error contraction. Deployment is RGB-only and reactive, without online trajectory optimization. On a real 7-DoF eye-to-hand system, WM-VS reaches a corner RMSE no larger than 10 percent of its initial value in 30/30 trials and retains this criterion at the final valid frame in 25/30 (83.33 percent). Removing future-error alignment reduces retention to 26.67 percent. The learned progress signal agrees with an external AprilTag corner error not used for training or control (mean Spearman rho = 0.8778). Without retraining, two unseen 3D targets achieve translation-error reductions of 86.48 percent and 90.27 percent and rotation-error reductions of 70.01 percent and 65.70 percent. These results link progress-aligned action consequences to repeated closed-loop correction and transfer. Code and data will be released as open source.
Subjects:
Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)
Cite as: arXiv:2609.20892 [cs.RO]
(or arXiv:2609.20892v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.20892
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Guanzhong Sun [view email] [v1] Thu, 17 Sep 2026 02:53:13 UTC (3,322 KB)
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