pianist-fly

The MaleCNS graph — 166,700 neurons and 25.6 million chemical synapses, with no learning rules anywhere in it — is run as a vectorized leaky integrate-and-fire kernel at 0.1 ms steps with 1.8 ms synaptic delay queues, and drives a MuJoCo fly that hunts a spatial sugar plume and aims leg strikes at piano keys. Bilateral concentration feeds 23 antennal sugar receptor neurons, front-leg motor pool rates are published every 28.6 ms tick and turned into damped least-squares inverse-kinematics ramps, and a verified claw contact on a key top triggers the note and moves the sugar target on.

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#mujoco#piano#olfaction#inverse-kinematics#motor-pool#malecns