ContactFlow: A video action conditioning that transfers across embodiments
World models offer a promising route toward robot planning by enabling agents to imagine and verify the consequences of actions before execution. However, current video-based world models often struggle to capture the physical constraints that govern manipulation, particularly contact. Further, their action conditioning is often constrained to specific embodiments such as parallel grippers. We propose \emph{Contact Flow}, an embodiment-agnostic action representation that encodes manipulation through the trajectory of 3D contact points between an actor and a target object. By discarding actor-specific appearance and kinematics, Contact Flow provides a shared conditioning signal for both hu...
| Authors | Sami Azirar, Enrico Pallotta, Jan Nogga et al. |
|---|---|
| Primary category | cs.RO |
| Published | 29 July 2026 |
| Last updated at source | 29 July 2026 |
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