FlyCNS: Connectome-Grounded Information Organization for Communication-Constrained Embodied Control

arXiv:2609.28816 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Actor — 3× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Graceful Degradation — 1× in this paper · explained in 2 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes
• Sparsity — 1× in this paper · explained in 4 episodes

Sources

• Decentralized Motor Skill Learning for Complex Robotic Systems
• Event-Triggered Multi-agent Reinforcement Learning with Communication under Limited-bandwidth Constraint
• Whole-Brain Connectomic Graph Model Enables Whole-Body Locomotion Control in Fruit Fly
• FLYNN: Robust Neural Network for Robot Navigation using Fly Brain Topology
• MuJoCo Playground
• Learning to Control Self-Assembling Morphologies: A Study of Generalization via Modularity
• Proximal Policy Optimization Algorithms

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