ETH Zurich's ACP teaches Unitree G1 whole-body ladder climbing with 13 minutes of demos
CyberRobooo · x · 2026-10-23
ETH Zurich's Robotic Systems Lab unveiled ACP (Humanoid Mobility via Attention-based Contacts): a Unitree G1 climbs outdoor ladders and mounts raised platforms using hands and feet in coordination. The team used just 13.2 minutes of human motion demonstrations to teach contact-rich whole-body control, combined with reinforcement learning. At runtime, onboard LiDAR reads terrain and plans where hands, feet, and knees should find support, coordinating 23 joints; movements can be chained across complex terrain with failure recovery. Real search-and-rescue or construction autonomy remains far off, but mobility over rough structures is a key step.
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