Specs
138,639neurons · FlyWire v783 connectome simulation
15,091,983connection records
493input cells
LC4 104 · LPLC2 210 · LC9 179
LC4 104 · LPLC2 210 · LC9 179
20readout neurons
84 mscompute per 100 ms of model time
real-robot shadow run, p50
real-robot shadow run, p50
0.35 sloom to decision, median
4 of 12 never triggered
4 of 12 never triggered
67 minlongest brain-driven run
contacts not recorded
contacts not recorded
216 mlongest distance in one run
includes a non-neural exploration drive
includes a non-neural exploration drive
−0.30 m/sescape reverse command
measured back at most 0.77 m
measured back at most 0.77 m
6direct-drive joints
TODO
- Bind cell identities to the connectome
- Offline replaypassed on the second try
- Compute inside the 100 ms window84 ms p50 in the shadow run; 122 ms p95 early on a shared GPU
- Real-robot shadow modestill segment 24 s, short of the protocol's 60 s
- Planner plus reflex reaches the goal in simulationthe route comes from the planner
- Pass every closed-loop simulation testperson_right remains; fix its evaluation flaw first
- Keep real-robot boundary overshoot under 0.25 mnow 0.30–0.46 m
- Complete the real-robot contact records4 runs unrecorded
- Get stuck less while roamingwith a brain it still stops 32% of the time
- Get past a person in the waytoday it turns and leaves
- Make forward drive neuralstage5_008 used a non-neural exploration drive
- Run planner plus reflex on the real robotsimulation only so far