FORWARD FLIGHT / SENSORIMOTOR REPLAY
Fly Sensorimotor Flight Lab
COURSE 02 · TEN 3D GATES
READY
01GAME CAMERARendered world
02RETINA48 × 27 pixels
03VISUAL ACTIVITYLeft / right / up / down
04MOTOR ACTIVITY2-axis choice + spontaneous drive
05BODY + REWARDMotion closes the loop
FORWARD FLIGHT CAMERA
EPISODE 0
RINGS 0 / 10
TARGETS 0 / 2
REPLAY READY
2-AXIS SENSORIMOTOR MODEL
Ten-gate flight episode
A 48 × 27 camera image drives horizontal and vertical motor activity. Gate outcomes provide delayed dopamine-like feedback.
LOW-RES FLY RETINA
48 × 27 camera sample
JRC2018U BRAIN + ACTIVITY
RETINAL DIAGNOSTIC
DETECTED — · ACTUAL —
NEUROMECHFLY BODY + ACTIVITY
X 0.00 · Y 0.00
VISUAL
DESCENDING / MOTOR
DOPAMINE-LIKE
Locations are schematic overlays, not reconstructed neurons.
NEURAL ACTIVITYREWARD 0.00
VISUAL L
VISUAL R
VISUAL UP
VISUAL DOWN
MOTOR L
MOTOR R
MOTOR UP
MOTOR DOWN
SPONT. DRIVE
FRONT LIMB
DOPAMINE
Preferences are untrained. The fly is exploring.
Closed-loop 3D neural replay
The game camera is reduced to a tiny retinal image. Independent steering policies learn the ring course while a separate front-limb policy learns when retinal target alignment should trigger a shot.
48 × 27 camera image supplies visual activity
Retinal ring position, apparent size, and motion form the policy state
Independent categorical actors output horizontal and vertical motor drive
Axis-specific rewards prevent horizontal and vertical credit from cancelling
Clipped on-policy updates and useful elite memories reinforce ring progress
Adaptive exploration falls as the learned policy improves
A separate firing policy learns only from retinal target alignment and shot outcomes
A small learned target-alignment response is gated to safe gaps between rings
Stationary and randomized courses support transfer testing
NeuroMechFly-derived scanned body mesh
Train on the stationary course, then switch modes between episodes to test transfer.
FAST-FORWARD TRAINING
Simulate complete steering and shooting episodes, then inspect both learned policies on the next run.
TRAINING HISTORY
NO COMPLETED EPISODES
SHOW
Hover over the graph or focus it and use the arrow keys to inspect an episode.
RINGS COMPLETED / 10
RINGS 10-EP AVG
SHOTS MADE / 2
SHOTS 10-EP AVG
RING · STATIONARY
RING · RANDOMIZED
SHOT · STATIONARY
SHOT · RANDOMIZED
RECORD RINGS0
RECORD HIT COUNT0
2-TARGET EPISODES0
FIRST 10-EP RINGS AVG0.0
FIRST 10-EP SHOTS AVG0.0
LATEST RINGS 10-EP AVG0.0
LATEST SHOTS 10-EP AVG0.0
LATEST RING COUNT0
LATEST SHOT COUNT0