arxivcs.RO2026-07-09
ContactMimic: Humanoid Object Interaction via Contact Control
Xinyao Li, Xialin He, Runpei Dong, Saurabh Gupta
Keypoint tracking alone is insufficient for object interaction tasks such as sitting on a chair, wiping a board, or pushing furniture, where the robot can reach the correct pose without making meaningful physical contact with the object. We present CONTACTMIMIC, a learning framew…