Author

Chang Liu

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Preprint Oct 2026

RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies

Results show that directly steering internal robot-policy representations can improve the performance of robot policies at inference time and show that directly steering internal robot-policy representations can improve the performance of robot policies at inference time.

Jiu-Zhou Lei, Chang Liu, Da-You Li et al. · 0 citations

Preprint Aug 2026

NeurRAFT: Robot Motion Planning via Anchor-Level Flow Matching with Clearance-Aware Preference Tuning

This work presents NeurRAFT, a generative planning framework based on anchor-level flow matching and clearance-aware preference tuning that operates on compact anchor waypoints, and directly reshape the pretrained planner's distribution toward safer solutions without augmenting inference.

Si-Bo Tian, Chang Liu, Ming-Hui Zheng et al. · 0 citations