@misc{he2026humanoidmobilityattentionbasedcontacts,
      title={Humanoid Mobility via Attention-based Contacts},
      author={Junzhe He and Kehan Wen and Chong Zhang and Clemens Schwarke and Zewei Zhang and Kaixian Qu and Siyuan Hu and Matthias Müller and Vladlen Koltun and Marco Hutter},
      year={2026},
      eprint={2610.31608},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2610.31608},
}