Contact-Anchored Policies: Contact Conditioning Creates Strong Robot Utility Models. - Zichen Jeff Cui; Omar Rayyan; Haritheja Etukuru; Bowen Tan; Zavier Andrianarivo; Zicheng Teng; Yihang Zhou; Krish Mehta; Nicholas Wojno; Kevin Yuanbo Wu; Manan H. Anjaria; Ziyuan Wu; et al. (CoRR, 2026)