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

[Project page] [arXiv]

Zichen Jeff Cui¹, Omar Rayyan³, Haritheja Etukuru², Bowen Tan¹, Zavier Andrianarivo¹, Zicheng Teng¹, Yihang Zhou¹, Krish Mehta⁶, Nicholas Wojno¹, Kevin Yuanbo Wu¹, Manan H. Anjaria¹, Ziyuan Wu¹, Manrong Mao¹, Guangxun Zhang¹, Binit Shah⁴, Yejin Kim⁵, Soumith Chintala¹, Lerrel Pinto¹, and Nur Muhammad Mahi Shafiullah²

¹New York University, ²UC Berkeley, ³UCLA, ⁴Hello Robot Inc., ⁵Ai2, ⁶University of Waterloo

Planned Timeline

• (Feb 9, 2026) Paper release
• (Feb 16, 2026) Documentation / hardware release
• (Mar 30, 2026) Code, model checkpoint release

Documentation / Hardware

• Build your own NYU gripper: https://nyu-gripper.pages.dev/
• Documentation: https://cap-policy.gitbook.io/guide

License

This project is licensed under the MIT license.