Humanoid Locomotion with a Fly-Inspired Recurrent Controller

arXiv:2609.27001 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Core — 31× in this paper · explained in 2 episodes
• Provenance — 3× in this paper · explained in 3 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Computational Biology — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Biological connectomes as a representation for the architecture of artificial neural networks
• FLYNN: Robust Neural Network for Robot Navigation using Fly Brain Topology
• An eight-neuron network for quadruped locomotion with hip-knee joint control
• A Spiking Neural Architecture for Coordinating Arm and Locomotor Control

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving