[
    {
        "id": "osp-26808",
        "type": "article-journal",
        "title": "Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation",
        "author": [
            {
                "family": "Zhai",
                "given": "Jiaqi"
            },
            {
                "family": "Zhao",
                "given": "Jingkai"
            },
            {
                "family": "Yang",
                "given": "Chen"
            },
            {
                "family": "Ma",
                "given": "Siyuan"
            },
            {
                "family": "Zhang",
                "given": "Yutian"
            },
            {
                "family": "Yang",
                "given": "Liwen"
            },
            {
                "family": "Wu",
                "given": "Qinglian"
            },
            {
                "family": "Fan",
                "given": "Weiqi"
            },
            {
                "family": "Wang",
                "given": "Yifei"
            },
            {
                "family": "Zheng",
                "given": "Yi"
            },
            {
                "family": "Gu",
                "given": "Chenxi"
            },
            {
                "family": "Wei",
                "given": "Dong"
            },
            {
                "family": "Zhang",
                "given": "Wei"
            }
        ],
        "URL": "https://omanscience.com/ar/articles/atomic-motion-coordinate-for-language-steerable-and-force-responsive-manipulation",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "abstract": "Can changing only the language instruction redirect a VLA policy's end effector, or does the visually driven motion prior dominate? We present Atomic Motion Coordinate, a geometry-grounded coordinate for steerable and force-responsive manipulation. Each arm owns thirteen signed translation, rotation, and hold atoms grounded from text and forward kinematics with vision withheld, and the coordinate is injected into every action-expert block via weighted codebook alignment. Contact history modulates the same coordinate through a bounded spherical residual that is recomputed from a fixed nominal latent to regenerate only the unexecuted horizon suffix. Across 7,520 offline horizon interventions, opposite-atom separation reaches 92.5/83.1% (single/dual) versus 39.1/24.0% for LA4VLA-style. Across 50 real-robot trials per task, AMC raises OOD fruit progress from 60.5% to 87.8%; force adaptation raises Plug/Vase from 59.0/71.5% to 78.5/75.2%."
    }
]