Carry
OmniContact
Chaining Meta-Skills via Contact Flow
for Generalizable Humanoid Loco-Manipulation
OmniContact uses contact flow as a compact planning-control interface. CF-Track learns a unified library of loco-manipulation meta-skills, while CF-Gen synthesizes, chains, and replans contact-flow segments for long-horizon humanoid tasks.
Overview #
Live MuJoCo Session #
OmniContact Dataset Visualization #
Dataset t-SNE
74,641 MoCap clips embedded by skill labels.
Loading points...
1,274
Valid sequences
22.29 h
Total motion duration
7.22M
Total object frames
90 Hz
Paired capture
Push
Kick
Slide
Relocate
Generalized Meta Skill #
Meta-skill
Generalization
Meta Skill Chaining #
Recovery #
VLM Integration #
Move the baseket to the goal position, and put the cylidner into it
Move the soccer ball to the goal
Arrange the scattered boxes into heart shape
Arrange objects as C-O-R-L with color-matched box targets