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

arXiv:2609.15012 · cs.RO · Submitted 2026-09-14 · Read on arXiv

cs.RO

Submitted: 2026-09-14

Updated: 2026-10-06

Comments: 8 pages, 4 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Steering — 17× in this paper · explained in 2 episodes
• Grounding — 12× in this paper · explained in 3 episodes
• Adaptation — 9× in this paper · explained in 1 episode
• Alignment — 5× in this paper · explained in 1 episode
• Atomic Motion Coordinate — 3× in this paper
• Generalization — 3× in this paper · explained in 13 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Tokenization — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Absolute Motion — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Flow Matching — 1× in this paper · explained in 7 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Supervised Fine-Tuning (SFT) — 1× in this paper · explained in 8 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models
• LA4VLA: Learning to Act without Seeing via Language-Action Pretraining
• When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs
• Training-Time Action Conditioning for Efficient Real-Time Chunking
• LARY: A Latent Action Representation Yielding Benchmark for Generalizable Vision-to-Action Alignment
• CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention
• FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
• T-Rex: Tactile-Reactive Dexterous Manipulation
• TouchWorld: A Predictive and Reactive Tactile Foundation Model for Dexterous Manipulation
• ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction

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