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

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

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 l

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