Jul 2026
ContactFlow: A video action conditioning that transfers across embodiments
This work proposes Contact Flow, an embodiment-agnostic action representation that encodes manipulation through the trajectory of 3D contact points between an actor and a target object, and integrates this model into a propose-imagine-verify-act pipeline, where generated rollouts are assessed by a vision-language model before execution.
Sami Azirar, Enrico Pallotta, Jan Nogga et al.
· arXiv.org · 1 citation