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

- Source: Guyuehome
- Published: 2026-10-29T06:38:00.000Z
- RoboHot: https://robohot.news/en/items/vnabhwa5eqkm9irifuqmfc8xg
- Original: https://www.guyuehome.com/detail?id=2112840232790421506

## Summary

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.