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ACP: Humanoid Ladder and Platform Climbing via Attention-based Contacts

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ETH Zurich ACP teaches a Unitree G1 to climb ladders and raised platforms with hands, feet and knees: 13.2 minutes of human demonstrations supply contact affordances, RL coordinates 23 joints, and onboard LiDAR plans contacts at runtime, chaining behaviors and recovering from failed attempts.

HumanoidLegged LocomotionReinforcement LearningLiDARUnitreeETH Zurich
Category: humanoid
Author: @CyberRobooo
Date: 2026-10-23T00:00:00
Duration: 17.577s
Source: https://x.com/CyberRobooo/status/2113577169909580060
Reference: https://arxiv.org/abs/2610.31608

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