@interestingengineering: ETH Zurich's Robotic Systems Lab has built a control system that lets Unitree's G1 humanoid climb ladders, cross stepping stones, crawl, vault and stand back up after falls. An attention-based contact planner predicts where nine body parts should touch the terrain next, and in simulation the system cleared eight composite obstacle courses 92.5% of the time, against 58.8% for a baseline method.