Walking is of little use when a passage is lower than a humanoid's torso. REACH gives the Unitree G1 a way to switch from bipedal movement to crawling and back. A transition policy bridges different contact modes, while LiDAR-based planning anticipates overhead clearance.

Reported body-height commands span 1.27–0.50 m for walking and 0.50–0.20 m for crawling. The team demonstrates traversal on a physical G1. Inspection is an obvious possible application, but controlled demonstrations do not establish contact safety or long-term field reliability.