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grasp learning 1humanoid control 1motion retargeting 1physics simulation 1wrist-guided manipulation 1

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20242026
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cs.RO2026

WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation

Wongyun Yu, Youngwoon Kim, Minsu Cho

The paper presents WristMimic, a control framework that separates whole‑body motion from hand manipulation by using the wrist as a kinematic guide, allowing realistic retargeting o…