PGMT paper: robot tracks flat-ground reference on stairs and 40cm boxes
ChongZzZhang · x · 2026-09-09
The author calls PGMT probably the best tracking paper he's seen: the robot can walk on stairs or a 40cm box while tracking a reference motion, without modifying the flat-ground reference. No reference-terrain adaptation is needed, training is cheap, and the key is a very smart model architecture design.
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