OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
Published:
A contact-flow interface for chaining humanoid loco-manipulation meta-skills with robust recovery.
Citation
Yu, Runyi, Xiaoyi Lin, Ji Ma, Yinhuai Wang, Koukou Luo, Jiahao Ji, Huayi Wang, Wenjia Wang, Runhan Zhang, Ping Tan, Ting Wu, Ruoli Dai, Qifeng Chen, and Lei Han. (2026). "OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation." arXiv.
BibTeX
@misc{yu2026omnicontactchainingmetaskillscontact,
title={OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation},
author={Runyi Yu and Xiaoyi Lin and Ji Ma and Yinhuai Wang and Koukou Luo and Jiahao Ji and Huayi Wang and Wenjia Wang and Runhan Zhang and Ping Tan and Ting Wu and Ruoli Dai and Qifeng Chen and Lei Han},
year={2026},
eprint={2606.26201},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2606.26201}
}
Project page: OmniContact