Authors

Junyi Ma

Publications 2

Preprint Open access

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

Guanzhong Sun, Junyi Ma, Yixuan Zhou et al. · 2026

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 …

Preprint Open access

HAP: A Hand-Driven Active Perception Framework for Egocentric Head Motion Prediction

Yunji Feng, Junyi Ma, Guanzhong Sun et al. · 2026

Egocentric motion forecasting has primarily focused on hands and manipulated objects, leaving future human head motion comparatively underexplored. During manipulation, the head both redirects perception toward the target to acquire task-relevant evidence and coordinates with body and hand motion. We therefore formulat …

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