3dfly

Flight in MuJoCo where the output is a map: a MaleCNS-structured network drives thrust and torque from descending neuron activity while the run accumulates a 3D point cloud of the room. Depth comes from motion parallax and optic flow, computed from consecutive frames, combined with egomotion, routed through the connectome and decoded from visual population activity into a 12 by 16 depth map, with classical StereoBM stereo kept alongside as a baseline. The README is explicit that the flow extraction and neural readout are hand-designed approximations.

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#mujoco#point-cloud#motion-parallax#optic-flow#exploration#malecns