ContactFlow
Paper and resources coming soon

ContactFlow

ContactFlow is an embodiment-agnostic action representation that describes manipulation through trajectories of 3D contact points— shared by hands, grippers, and robots.

View repository Paper coming soon
CONTACTFLOW CONDITION FUTURE CONTACT · 3D TRAJECTORIES
Color traces the contact surface through the next four frames.

The same physical intent can look radically different across embodiments.

Contact is the common language.

01 / The idea

One interface.
Many embodiments.

Instead of conditioning a world model on actor-specific appearance or joint commands, ContactFlow isolates where interaction happens and how that interface moves through 3D space.

A

Human hands

Learn interaction structure from abundant human demonstrations.

B

Robot grippers

Express robot plans using the same contact-centric signal.

C

New embodiments

Transfer action conditioning without copying actor geometry.

01 Observe RGB + geometry
02 Encode contact 3D point trajectories
03 Imagine Video world model
04 Verify Predicted outcome

02 / Preview

Imagine before
you act.

The model receives an initial scene and a ContactFlow condition, then predicts the visual outcome. Each six-second result explicitly pairs our generated future with its matching ground truth.

TACO HUMAN · 14B HUMAN-ONLY · 28.09 dB
Our ContactFlow generation
Ground truth

Close-up bimanual interaction with clear object motion.

EGODEX HUMAN · 14B HUMAN-ONLY · 23.74 dB
Our ContactFlow generation
Ground truth

Egocentric interaction with a clearly visible manipulated object.

AGIBOT ROBOT · 14B HUMAN-ONLY · 20.44 dB
Our ContactFlow generation
Ground truth

Cross-embodiment robot interaction in a cluttered real scene.

TASTEROB HUMAN · 14B HUMAN-ONLY · 28.89 dB
Our ContactFlow generation
Ground truth

High-quality held-out human interaction in a real kitchen scene.

OAKINK HUMAN · 14B HUMAN-ONLY · 29.72 dB
Our ContactFlow generation
Ground truth

Clear held-out tool interaction selected for the paper.

Genuine 49-frame paper results. Every pair is synchronized and explicitly labeled—our generated rollout first, matching ground truth second.

03 / Release

Resources are
on the way.

This is the official release repository. We will update it with the paper, implementation, checkpoints, and processing tools as they become available.

01 Repository Project page source and release updates Live ↗
02 Paper Manuscript and supplementary material Coming soon
03 Code & models Training, inference, and checkpoints Under construction
04 Data tools ContactFlow extraction and visualization Planned
Citation
@inproceedings{contactflow2026,
  title = {ContactFlow: A Video Action Conditioning
    that Transfers Across Embodiments},
  year = {2026}
}

Complete author and venue metadata will be added after review.