Contact-Anchored Policies: Contact Conditioning Creates Strong Robot Utility Models

作者：Zichen Jeff Cui, Omar Rayyan, Haritheja Etukuru, Bowen Tan, Zavier Andrianarivo, Zicheng Teng, Yihang Zhou, Krish Mehta, Nicholas Wojno, Kevin Yuanbo Wu, Manan H Anjaria, Ziyuan Wu, Manrong Mao · 单位：New York University, University of California, Berkeley, University of California, Los Angeles, Hello Robot Inc., Ai2, University of Waterloo · 会议/期刊：arXiv · 日期：2026-02-09 · 来源：Low-Level Learning-Based Action Modelling / Learning Strategy / Vision-Grounded Goal Extraction / Gaze