merlresearch/unic: UNIC: Learning Unified Multimodal Extrinsic Contact Estimation ·

UNIC: Learning Unified Multimodal Extrinsic Contact Estimation

Abstract Contact-rich manipulation requires reliable estimation of extrinsic contacts—the interactions between a grasped object and its environment—which provide essential contextual information for planning, control, and policy learning. However, existing approaches often rely on restrictive assumptions, such as predefined contact types, fixed grasp configurations, or camera calibration, that hinder generalization to novel objects and deployment in unstructured environments. UNIC is a unified multimodal framework for extrinsic contact estimation that operates without any prior knowledge…

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• Kunvar Thaman

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