arxivcs.ROcs.CVcs.GR2026-07-07
WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation
Wongyun Yu, Youngwoon Kim, Minsu Cho
Retargeting human object interaction demonstrations to physics based simulation requires reproducing not only body motion but also the object motion and contacts that make manipulation succeed. However, position only hand trajectories do not specify the contact forces needed to m…