{"paper":{"title":"OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Huayi Wang, Jiahao Ji, Ji Ma, Koukou Luo, Lei Han, Ping Tan, Qifeng Chen, Runhan Zhang, Runyi Yu, Ruoli Dai, Ting Wu, Wenjia Wang, Xiaoyi Lin, Yinhuai Wang","submitted_at":"2026-06-24T16:28:23Z","abstract_excerpt":"Learning long-horizon humanoid loco-manipulation poses a dual challenge: it requires not only the robust execution of meta-skills but also their seamless, closed-loop chaining equipped with autonomous recovery. Existing approaches remain limited: explicit humanoid-object interaction representations offer precision but are notoriously difficult for high-level planning, whereas implicit skill embeddings are compact but lack the interpretability required for reliable composition. We propose \\ours, a hierarchical framework centered on \\textbf{contact flow (CF)}, a compact representation consisting"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.26201","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.26201/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}