[
    {
        "id": "osp-26062",
        "type": "article-journal",
        "title": "Humanoid Locomotion with a Fly-Inspired Recurrent Controller",
        "author": [
            {
                "family": "Guan",
                "given": "Isabel"
            },
            {
                "family": "Zhao",
                "given": "Yuntian"
            },
            {
                "family": "Zhang",
                "given": "Dingyuan"
            },
            {
                "family": "Lyu",
                "given": "Shipeng"
            }
        ],
        "URL": "https://omanscience.com/en/articles/humanoid-locomotion-with-a-fly-inspired-recurrent-controller",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "abstract": "We investigate humanoid locomotion with a fly-inspired recurrent controller and identify the pathways supporting its deployed behavior. The controller couples 3,609 continuous neural states to a simulated Unitree G1 through body-observation projections, a motor-neuron-labelled readout, and joint servos. We formulate this neural-body feedback system and evaluate a fixed checkpoint across seven terrain instances, three speeds, and three initial yaw offsets. It completes 61/63 conditions under a survival-and-forward-progress criterion; a privileged reference completes 62/63. At nominal yaw, resetting the recurrent motor state before every policy call changes success from 19/21 to 0/21. Conversely, depth and upstream-state substitutions at 252 recorded states leave actions unchanged, with zero measured descending output throughout the intact rollouts. Recorded trajectories and state-matched images connect these findings to sustained movement, lateral drift, and termination events. The study characterizes an embodied recurrent control system whose tested locomotion is supported by direct body-and-command input and carried motor state, providing a concrete basis for subsequent comparisons of circuit structure and control resources."
    }
]