This video of a Japanese man running 100m in 15.71 seconds made me wonder if it’s possible for humans to run faster on 4 limbs.

This paper has some insights into how one would achieve this biomechanically and prediction for when the 4 limb time would surpass 2 limb.

Do you think it is possible to use RL to learn the fastest human gait as per something like this? And how strong a persons upper body would have to be in order to be faster on 4 limbs?