Authors

Liwen Yang

Publications 2

Preprint Open access

VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation

Yutian Zhang, Xingrui Xiong, Siyuan Ma et al. · 2026

Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB observations remains challenging. Existing approaches often rely on teleoperation or specialized devices equipped with additional sensing h …

Preprint Open access

Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation

Jiaqi Zhai, Jingkai Zhao, Chen Yang et al. · 2026

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 gro …

Co-authors

Yutian Zhang Xingrui Xiong Siyuan Ma Yang Li Jiawen Wen Jiaqi Zhai Ce Hao Haozhen Chi Yangkun Zhu Yifan Zhu Xiaowen Chu Dong Wei