Haltere

A flight controller wired by anatomy: 30,000 MaleCNS v1.0 neurons that sit on a sense-to-motor path of at most two synapses, plus the central complex and descending neurons, with 2.77 million connections and 37.5 million synapses. Topology and synapse sign are fixed; gains, biases, time constants, encoders and a linear readout are trained by copying a teacher MLP and backprop through a differentiable quadrotor. It then flies in Liftoff: 0.34 m hover error, a 601 m lap at 1.5 m/s with 0.67 m path error. In the simulator the plain MLP baseline reaches 10 cm where this brain gets 0.22 m.

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#malecns#drone#fpv#liftoff#connectome-constrained#imitation-learning