Fly biosensor — water cleanGate valve — open

Water flowing

supply open

Booting Cleanfly…

Phase: idle · body … · worker …

Cleanfly · connectome data CC BY 4.0FlyWire · MaleCNS · Shiu 2024 · NeuroMechFly · MuJoCo

Emergent vs engineered (honesty)

Layer	Status
NeuroMechFly mesh + MuJoCo	Engineered load of real MJCF/STL
Arena floor / walls	Real MuJoCo contact pairs (cloned FlyGym ground list)
Locomotion XY + tripod CPG	Engineered freejoint assist + CPG — not FlyGym adhesion / PreprogrammedSteps
Pathway spikes → DN rates	Emergent from mini CSR + LIF
KC→MBON plasticity	Live CSR overlay on bake (3-factor + engineered DA pulse)
Sanitation reward window	Engineered Detect→Withdraw→Groom→Return; groom timeout scaffold
Head groom (aDN)	Kinematic head/antenna qpos + cyclic front-leg wipe — not PreprogrammedSteps
Wing flaps (DNg02)	Open-bias hinge qpos + Flight-chip tonic — not FlyGym wing actuators
Brain CSR edges	Bezier overlay of bake topology; Worker spikes → RAF glow