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%.
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Cite this article
APA 7
Zhai, J., Zhao, J., Yang, C., Ma, S., Zhang, Y., Yang, L., Wu, Q., Fan, W., Wang, Y., Zheng, Y., Gu, C., Wei, D., & Zhang, W. (2026). Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation. https://omanscience.com/en/articles/atomic-motion-coordinate-for-language-steerable-and-force-responsive-manipulation
MLA 9
Zhai, Jiaqi, et al. "Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation." https://omanscience.com/en/articles/atomic-motion-coordinate-for-language-steerable-and-force-responsive-manipulation.
Chicago (author–date)
Zhai, Jiaqi, Jingkai Zhao, Chen Yang, Siyuan Ma, Yutian Zhang, Liwen Yang, Qinglian Wu, Weiqi Fan, Yifei Wang, Yi Zheng, Chenxi Gu, Dong Wei, and Wei Zhang. 2026. "Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation." https://omanscience.com/en/articles/atomic-motion-coordinate-for-language-steerable-and-force-responsive-manipulation.
Harvard
Zhai, J., Zhao, J., Yang, C., Ma, S., Zhang, Y., Yang, L., Wu, Q., Fan, W., Wang, Y., Zheng, Y., Gu, C., Wei, D. and Zhang, W. (2026) 'Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation', Available at: https://omanscience.com/en/articles/atomic-motion-coordinate-for-language-steerable-and-force-responsive-manipulation.
Vancouver
Zhai J, Zhao J, Yang C, Ma S, Zhang Y, Yang L, et al. Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation. https://omanscience.com/en/articles/atomic-motion-coordinate-for-language-steerable-and-force-responsive-manipulation
IEEE
J. Zhai, J. Zhao, C. Yang, S. Ma, Y. Zhang, L. Yang, Q. Wu, W. Fan, Y. Wang, Y. Zheng, C. Gu, D. Wei, and W. Zhang, "Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation," https://omanscience.com/en/articles/atomic-motion-coordinate-for-language-steerable-and-force-responsive-manipulation.