Mitsuhiro Hayashibe

From Insect Behavior to Transferable Robot Locomotion: Inferring Embodied Locomotor Principles from Limited Data via Adversarial Inverse Reinforcement Learning

Yuchen Wang, Thirawat Chuthong, Mitsuhiro Hayashibe, Poramate Manoonpong, Dai Owaki

Abstract Insect locomotion exhibits remarkable adaptability and flexibility despite the limited scale of its nervous system. However, the underlying principles that govern leg coordination remain difficult to extract and model computationally. Understanding how insects achieve st…Read more