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In "Characteristic Classes" by Milnor, he mentions that characteristic homology classes for the tangent bundle of a smooth manifold have been defined. I've tried looking these up without much luck.

My question is: is there a simple, analogous notion of characteristic homology class to the regular one in cohomology? Would I be right in saying that these elements would live in the homology of the total space of a fibre bundle? Could they, for example, give obstruction to certain topological spaces being the base of a fibre bundle with the total space in question?