Author

Xiao Liang

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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

#artificial intelligence Preprint Aug 2026

PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models

PHR-VLA introduces a lightweight auxiliary future head that, during training, aligns the VLA's internal representations with latent dynamics extracted from future observations, demonstrating that privileged latent dynamics alignment provides an effective training signal for improving anticipatory reasoning in VLA polic...

Davood Soleymanzadeh, Kai-Di Zhang, Zhi-Yuan Zhang et al. · 2 citations