Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure

arXiv:2606.26588 · cs.RO · Submitted 2026-06-25 · Read on arXiv

cs.RO

Submitted: 2026-06-25

Updated: 2026-10-21

Terminology

• Steering — 3× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

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