{"id":"https://openalex.org/W7166020542","doi":"https://doi.org/10.48550/arxiv.2606.26588","title":"Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure","display_name":"Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure","publication_year":2026,"publication_date":"2026-06-25","ids":{"openalex":"https://openalex.org/W7166020542","doi":"https://doi.org/10.48550/arxiv.2606.26588"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.26588","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26588","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.26588","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139425680","display_name":"Yiyuan Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Yiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039258932","display_name":"Hanjiang Hu","orcid":"https://orcid.org/0000-0002-5698-5887"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Hanjiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139447827","display_name":"Shangtao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Shangtao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009405571","display_name":"Xusheng Luo","orcid":"https://orcid.org/0000-0003-4342-7234"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luo, Xusheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139453280","display_name":"Changliu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Changliu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4244000017642975,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4244000017642975,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.34599998593330383,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.06430000066757202,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7418000102043152},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6583999991416931},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6019999980926514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5902000069618225},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.5242999792098999},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42879998683929443},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4239000082015991},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41600000858306885}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7418000102043152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7116000056266785},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6583999991416931},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6019999980926514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5902000069618225},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.5242999792098999},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42879998683929443},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4239000082015991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4180000126361847},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41600000858306885},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38519999384880066},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.35089999437332153},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.32589998841285706},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3098999857902527},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2913999855518341},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C18969341","wikidata":"https://www.wikidata.org/wiki/Q1169129","display_name":"Skeleton (computer programming)","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.27630001306533813},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27000001072883606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.26588","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26588","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.26588","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26588","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"A":[0],"central":[1],"challenge":[2],"in":[3,31,52,174],"deploying":[4],"learned":[5],"robot":[6],"policies":[7],"is":[8],"inference-time":[9],"behavior":[10],"steering:":[11],"redirecting":[12],"a":[13,69,75,79,87,93,112,140,154],"policy":[14,72,77],"at":[15],"test":[16],"time":[17],"to":[18,101,135,162,182],"satisfy":[19],"user":[20],"preferences":[21],"not":[22],"anticipated":[23],"during":[24],"training,":[25],"without":[26],"retraining.":[27],"Existing":[28],"methods":[29,35,43],"fail":[30],"two":[32],"modes:":[33],"end-to-end":[34],"require":[36],"fine-tuning":[37],"or":[38],"expert-level":[39],"guidance,":[40],"while":[41],"neuro-symbolic":[42],"rely":[44],"on":[45],"predefined":[46],"symbols":[47],"whose":[48],"edits":[49],"can":[50],"result":[51],"logically":[53],"reasonable":[54],"but":[55],"physically":[56],"infeasible":[57],"plans.":[58],"To":[59],"address":[60],"this":[61],"challenge,":[62],"we":[63],"propose":[64],"ReStruct,":[65],"which":[66],"builds":[67],"upon":[68],"neural":[70],"automaton":[71,100],"that":[73,151],"decomposes":[74],"visuomotor":[76],"into":[78,108],"high-level":[80],"state-machine":[81],"skeleton":[82,110,131],"capturing":[83],"task":[84,118,142,176],"structure":[85],"and":[86,105,148,165,178],"low-level":[88],"continuous":[89],"controller":[90,122],"represented":[91],"as":[92],"residual":[94],"policy.":[95],"Specifically,":[96],"ReStruct":[97,152],"adopts":[98],"the":[99,103,109,117,121,125,130],"represent":[102],"preference":[104],"incorporates":[106],"it":[107],"through":[111],"synchronous":[113],"product,":[114],"thereby":[115],"reconfiguring":[116],"structure.":[119,143],"With":[120],"kept":[123],"frozen,":[124],"action":[126],"priors":[127],"provided":[128],"by":[129,180],"are":[132],"updated":[133],"accordingly":[134],"enable":[136],"physically-aware":[137],"control":[138],"under":[139],"modified":[141],"Extensive":[144],"experiments":[145],"from":[146,159],"simulation":[147],"real-world":[149],"show":[150],"steers":[153],"wide":[155],"range":[156],"of":[157],"preferences,":[158],"object-centric":[160],"specifications":[161],"temporal-logic":[163],"constraints,":[164],"after":[166],"steering":[167],"surpasses":[168],"existing":[169],"methods,":[170],"exceeding":[171],"VLA":[172],"models":[173],"both":[175],"success":[177],"preference-following":[179],"up":[181],"25%.":[183]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-27T00:00:00"}
