[sramam]

I know very little in this field, but does this mean they the LED color is serving as debug/log messages for the training process? It sure seems so to my naive reading, and seems so clever.

    We use different LED lights to indicate transitions between dynamic modes
    in the automata. Similar to segmentation techniques in computer vision, 
    the learned hybrid modes can help us analyze motion patterns more 
    systematically, improve interpretability in decision-making, and refine
    control strategies for enhanced adaptability.