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AME: Terrain-attention encoding controls G1 humanoid robot walking on complex terrain

The article introduces a terrain-attention encoding method called AME that encodes a 1.6×1.0-meter elevation map for the G1 humanoid robot into 187 terrain tokens, uses the robot's proprioceptive state as a single query for cross-attention to extract terrain features, and the policy uses these to walk on steps, plum blossom piles, and slopes. The article derives the encoder structure, attention mechanism, and reward design; the full body of the text is not provided in the materials.

Part of the event: AME Terrain Attention Encoding Controls G1 Walking on Complex Terrain

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