This is a hybrid controller, with pretrained FlyBody coordination and feedback from the downloaded MaleCNS network: 166,700 neurons.
Brightness, fruit scent, contact and joint motion feed annotated sensory populations. Descending rates set a movement request; muscle populations adjust named joint controls.
MuJoCo computes the body motion. Official FlyBody RL policies coordinate walking and flight. A measured baseline wing pattern is part of that controller. The connectome alone does not produce this behavior. The separated rigid model follows physical joints; there are no animation clips.
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