[2606.26201] OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
[Submitted on 24 Jun 2026]
Title:OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation
View a PDF of the paper titled OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation, by Runyi Yu and 13 other authors
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Abstract: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 of key body trajectories and time-series binary contact signals. Leveraging this shared interface, our low-level policy \textbf{CF-Track} learns a unified library of loco-manipulation skills, while our high-level module \textbf{CF-Gen} heuristically synthesizes future contact-flow sequences. To support this setting, we additionally collect the OmniContact dataset, a MoCap-based HOI corpus for humanoid loco-manipulation (Appendix~\ref{sec:dataset}). Together, they enable robust execution, autonomous failure recovery, and flexible composition of meta-skills for long-horizon tasks. Experiments show that OmniContact achieves \(98.7\%\) success on \textit{Carry Box} and \(76.5\%\) on \textit{Push-Stack Boxes}, outperforming prior baselines by average margins of \(40.9\%\) in meta-skill and \(66.5\%\) in skill chaining. Besides, our framework naturally integrates with VLMs for semantic task decomposition, enabling complex, semantically grounded loco-manipulation behaviors, such as arranging scattered boxes into a heart shape.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2606.26201 [cs.RO]
(or arXiv:2606.26201v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.26201
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Runyi Yu [view email] [v1] Wed, 24 Jun 2026 16:28:23 UTC (5,325 KB)
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