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Caltech Unitree G1 Climbs Stairs Across Floors Without a Map

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Caltech Unitree G1 traversed over 10 m of elevation and 100 m of path across building floors without a map: a policy learned from LiDAR on simplified dynamics is bridged to whole-body control for real stair climbing.

Legged Locomotion Stair Climbing Reinforcement Learning Unitree G1 Whole-Body Control LiDAR Caltech

Category: humanoid

Author: @yokoshaan

Date: 2026-09-21T00:00:00

Duration: 44.733s

Source: https://x.com/yokoshaan/status/2101876633384997002

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