FlyHead: a whole-brain FlyWire fruit-fly connectome (138k-neuron LIF, PyTorch/CUDA) driving a real wheel-legged robot over ROS 2. LiDAR looming -> LC4/LPLC2/LC9 -> descending neurons (DNp01, DNa02, MDN) -> escape & obstacle avoidance. SLAM navigation, simulation, offline EEG->DNa02 steering.
cuda pytorch eeg lidar drosophila slam brain-computer-interface connectome ros2 neurorobotics brain-inspired lif-neuron spiking-neural-network flywire embodied-ai fruit-fly looming escape-behavior
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Updated
Nov 6, 2026 - Python