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