OmniContact introduces contact flow as a shared representation of body trajectories and contact signals to learn and chain loco-manipulation meta-skills, reporting 98.7% success on box carrying and 76.5% on push-stack tasks.
A unified and general humanoid whole-body controller for fine-grained locomotion.ArXiv, abs/2502.03206, 2025
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OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
OmniContact introduces contact flow as a shared representation of body trajectories and contact signals to learn and chain loco-manipulation meta-skills, reporting 98.7% success on box carrying and 76.5% on push-stack tasks.