@article{cui2026contact,
title={Contact-Anchored Policies: Contact Conditioning Creates Strong Robot Utility Models},
author={Zichen Jeff Cui and Omar Rayyan and Haritheja Etukuru and Bowen Tan and Zavier Andrianarivo and Zicheng Teng and Yihang Zhou and Krish Mehta and Nicholas Wojno and Kevin Yuanbo Wu and Manan H Anjaria and Ziyuan Wu and Manrong Mao and Guangxun Zhang and Binit Shah and Yejin Kim and Soumith Chintala and Lerrel Pinto and Nur Muhammad Mahi Shafiullah},
journal={arXiv preprint arXiv:2602.09017},
year={2026}
}