Carry
OmniContact
Chaining Meta-Skills via Contact Flow
for Generalizable Humanoid Loco-Manipulation
* Equal contributors ✉ Corresponding authors
1 Noitom Robotics 2 The Hong Kong University of Science and Technology 3 Wuhan University 4 The University of Hong Kong
Overview #
98.7%
Carry Box success
82.5%
Push Suitcase success
~40 min
Long-horizon endurance
50 Hz
Closed-loop monitoring
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 N-O-I-T-O-M with color-matched box targets
Baseline Comparison #
Citation #
@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},
}