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Robles won Thursday's final in 12.93 seconds, with American teammates David Payne taking silver in 13.17 and David Oliver getting bronze in 13.18.
Ladji Doucoure of France, the 2005 world champion, was fourth.
Robles set the world record at 12.87 on June 12, when he sliced one-hundredth of a second off the mark Liu held for two years.
Liu, who won the 2004 Athens Olympic title, withdrew with an injury after a competitor's false start in his first heat.
Two-time Olympic silver medalist Terrence Trammell was eliminated in the first round.
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