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

Comments: 19 pages: 8 main text, 1 references, 10 supplementary material; 5 main and 10 supplementary figures. Simulation study

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

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

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