@article{recoverformerendtoendcontactawarerecover,
  title = {RecoverFormer: End-to-End Contact-Aware Recovery for Humanoid Robots},
  author = {Zihui Liu},
  year = {2026},
  eprint = {2604.22911},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.22911},
}