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

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

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

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