virtual-fly

Couples a MaleCNS snapshot of 166,700 neurons and 25,582,938 directed edges to a FlyBody MuJoCo body in closed loop, and insists on doing the learning inside the simulated nervous system: no backpropagation, no gradient descent, no external controller, only local activity, eligibility and dopaminergic modulation through released DAN populations. The canonical v1 run changed 2,163,179 stored edges over six episodes, yet frozen evaluation before and after both ended in a gate collision at control step 120, so the run establishes weight change, not improved behaviour.

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#mujoco#flybody#dopamine#local-plasticity#reproducibility#malecns