Author

Chang Liu

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Preprint Oct 2026

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

Vision-language-action (VLA) and world-action models (WAMs) often degrade under out-of-distribution task variations despite retaining partial task capability. To recover such capability, we propose RoboIRS, an inference-time internal representation steering method that uses successful and failed rollouts to train linea...

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

Recent end-to-end neural motion planners generate trajectories from raw sensor observations, avoiding the privileged geometric models required by classical planners. However, collision-free planning in cluttered environments remains challenging. We present NeurRAFT, a generative planning framework based on anchor-level...

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