ReStruct steers robot policies at inference time by reconfiguring task structure with neural automata and synchronous products, claiming up to 25% gains over VLA models in success and preference adherence.
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Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure
ReStruct steers robot policies at inference time by reconfiguring task structure with neural automata and synchronous products, claiming up to 25% gains over VLA models in success and preference adherence.