Systems and methods for gesture-based control are disclosed. In some embodiments, a system may include a wearable device configured to obtain physiological data and wrist location data. The system may be configured to detect a first gesture and transition to an object control state in which changes in the wrist location data and/or the physiological data are configured to control a movement of the object. In the object control state, the system may be configured to detect a first motion of a body part, generate a first command to move the object in a first command direction, detect a second motion of the body part, and generate a command to move the object in a second command direction. The system may detect a second gesture indicating an intention to cease control of the object, and transition out of the object control state.