suanmiao/fly-self-driving

A connectome-based fruit fly physically learning to operate a steering wheel in CARLA

A fruit fly connectome as a drone pilot. Camera -> fly eyes -> spiking brain -> descending neurons -> drone. Live 3D demo in your browser.

Embodied Drosophila: 138,639-neuron whole-brain connectome simulation (FlyWire v783) in a biomechanical body (NeuroMechFly v2 / MuJoCo). Vision, olfaction, gustation, flight, and emergent behaviors — all from the real connectome.

The MaleCNS fruit-fly connectome, run unchanged, plays Doom E1M1 through a hand-built eye and a trained readout

Five fruit flies pinned to electric pins. A sixth fly, wired into a reward-punishment loop, decides which two get current, gets dopamine when one maxes out, and burns when the others go cold. Six copies of the MaleCNS connectome, 166,700 neurons each, bit-identical until something is done to them.

Runs the complete released Drosophila male CNS connectome (165,122 neurons, 25.5M edges) inside a physical fly body, in closed loop, on one GPU.

[CoRL 2026] Official Repository for: Scaling Self-Play for End-to-End Driving