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Sparse 3D Traversal, ETH Zürich’s PM-01 Humanoid Swings the Monkey Bars on Raw LiDAR - TechEBlog -

Researchers at ETH Zürich's Robotic System Lab demonstrated a humanoid robot (EngineAI PM-01) successfully traversing monkey bars using only raw LiDAR data, achieving 14 out of 15 successful trials across three different bar configurations with varying heights (1.69-1.75m) and spacings (0.26-0.33m). The system uses an attention-based encoder (AME-2) with GRU memory to perceive thin overhead geometry and execute jump-swing-land sequences with peak swing speeds of 0.5 m/s.