NeuroWalker

Modulates an 18-DOF MuJoCo hexapod with a 10,000-neuron spiking subgraph of FlyWire carrying 797,577 synapse pairs, benchmarked over ten seeds per cell against a tripod-gait CPG and a PPO residual policy, then with disabled legs, locked joints, reduced torque and sensor dropout. On flat and rough ground it walks slightly further than the CPG, but on a 10-degree slope it falls in 3 of 10 runs where the CPG falls in none, and both collapse from 15 degrees while PPO keeps walking. The README marks the ROS 2 nodes, Docker image and CI as written but unverified.

Official site ↗

#flywire#hexapod#mujoco#cpg-baseline#fault-recovery#negative-result