Author

Yi-Xuan 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

Jul 2026

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

UniMedSeg is proposed, a Transformer-centric universal segmentation framework that maps visual examples, geometric interactions, language instructions, and 2D/3D images into a shared sequence space, enabling heterogeneous medical supervision to be jointly learned through a unified in-context interface without prompt- o...

Yunzhou Li, Jie-Si Hu, Yan-Wu Yang et al. · arXiv.org · 0 citations