Here is the full list of all 17 Upwards, Lonely Robot achievements.
Climb a tower in under 16 seconds
Collect all apples on an apple-only tower in Story Mode
Teleport 1000 times
Demolish 25 crumbling platforms
Avoid all acid on an acid Story Mode level
Complete a short tower in Hard or Very Hard Story Mode without getting hit
Complete a regular tower in Hard or Very Hard Story Mode without getting hit
Complete a tall tower in Hard or Very Hard Story Mode without getting hit
Climb 1000 Infinite Mode levels in one run
Collect 500 Juice on one tower in Infinite Mode
Get hit by 100 spikes on one tower in Infinite Mode
Climb a tall tower in Climber Mode without jumping
Collect a total of 10000 Juice
Fall 20 platforms
Die to the Purple Death 5 times
Attempt all difficulty levels
Fail the final tower in Story Mode 5 times