WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation
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 manipulate objects, and directly tracking them can overconstrain contact rich finger behavior. We introduce WristMimic, a wrist guided whole body control framework that explicitly separates contact free body motion from contact rich hand manipulation. The contact free body and wrist are guided by kinematic pose targets,
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- PossiblePossibly related (embedding) · 50%A dexterous soft hand exoskeleton restores intentional grasping in individuals with severe hand impairment →
- PossiblePossibly related (embedding) · 45%Video Friday: AI Gives Robot Hands Humanlike Dexterity →
- PossiblePossibly related (embedding) · 53%enactic/openarm →
- FuzzySimilar title/name (fuzzy) · 87%lllyasviel/ControlNet →
“Fuzzy title match (0.94): “WristMimic: Full-Body Humanoid Control with Wrist-Guided Man” ≈ “lllyasviel/ControlNet””
- FuzzySimilar title/name (fuzzy) · 87%lllyasviel/ControlNet-v1-1 →
“Fuzzy title match (0.94): “WristMimic: Full-Body Humanoid Control with Wrist-Guided Man” ≈ “lllyasviel/ControlNet-v1-1””
- LinkedLinked via arxiv author · 85%Wongyun Yu →
“WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation”
- LinkedLinked via arxiv author · 85%Youngwoon Kim →
“WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation”
- LinkedLinked via arxiv author · 85%Minsu Cho →
“WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation”