# Sensorless Force Estimation

Humanoid whole-body manipulation usually needs full-body human motion trajectories or wrist force sensors. FORGE splits commands into four granularities, velocity navigation, planar footholds, wrist poses and an optional force command, trains without full-body human motion references, and at deployment consumes only pelvis-relative bilateral wrist poses and coarse commands. A momentum observer plus a learned correction estimates wrist-equivalent force from joint states and reconstructed PD torques, with no wrist force/torque sensor. In a squat-and-lift task across four payloads, one diffusion policy driving FORGE succeeded in all 20 trials empty and at 0.5 kg, and in 18 of 20 at 1 kg and 2 kg.

Humanoid whole-body manipulation usually needs full-body human motion trajectories or wrist force sensors. FORGE splits commands into four granularities, velocity navigation, planar footholds, wrist poses and an optional force command, trains without full-body human motion references, and at deployment consumes only pelvis-relative bilateral wrist poses and coarse commands. A momentum observer plus a learned correction estimates wrist-equivalent force from joint states and reconstructed PD torques, with no wrist force/torque sensor. In a squat-and-lift task across four payloads, one diffusion policy driving FORGE succeeded in all 20 trials empty and at 0.5 kg, and in 18 of 20 at 1 kg and 2 kg.