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

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; Guangxun Zhang; Binit Shah; Yejin Kim; Soumith Chintala; Lerrel Pinto; Nur Muhammad Mahi Shafiullah · RSS 2026 · 2026