Publish retained and experimental MaleCNS controllers with runtime assets and evidence

README.md

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+---
+license: cc-by-4.0
+language:
+- en
+tags:
+- robotics
+- connectomics
+- malecns
+- mlx
+- simulation
+- experimental
+model-index:
+- name: fly-brain-codex
+  results: []
+---
+# Fly Brain Codex
+
+An experimental controller for a native macOS robot-arm simulator, built using a derived MaleCNS connectome. **MaleCNS is an anatomical wiring map, not a pretrained robot policy.** This release includes our learned parameters, derived sparse graph assets, frozen training features/targets, and historical evaluation records.
+
+[Source, setup and demo](https://github.com/monomyth/fly-brain-codex) · [Simulator branch](https://github.com/monomyth/rebot-motion-lab/tree/fly-brain-codex)
+
+## Choose a profile
+
+| Artifact | What it contains | Measured status |
+|---|---|---|
+| `stable.tar.gz` | Retained `retain-grasp-20260911` UI controller | 19/20 pickup-and-hold trials in X343–357, Y−10–8 mm; separate real UI pickup/hold/drop checks passed |
+| `experimental.tar.gz` | Newer `touch-direct-20260912`, using bilateral finger contact to select pickup/holding parameter banks | 12/15 full tasks completed; 20 planned, 5 unrun. Not qualified for default UI deployment |
+| `cuda-continuation.tar.gz` | Latest 12,000-iteration RTX 4090 continuation fit, parameters and fit metrics | Not imported into the deployed controller; no native closed-loop evaluation |
+| `runtime-assets.tar.gz` | Shared prepared graph, sensory/motor/feedback circuits and brain-overlay geometry | Shared once by both profiles |
+
+“Stable” identifies the retained UI baseline, not production-grade reliability. The validated task uses a **20 mm cube and a folded start**. Broad arbitrary placement and other cube sizes are not established. Historical results do not guarantee the same rate on another machine.
+
+## Run
+
+Clone the [source repository](https://github.com/monomyth/fly-brain-codex), follow its macOS simulator build instructions, then run:
+
+```sh
+python3 scripts/download_model.py
+.venv/bin/python scripts/run_mlx_ui.py --check-deployment
+```
+
+The downloader pins this Hub release by commit and SHA-256 in the source repository, verifies the archives, preserves differing existing assets, and writes only project-local `data/` and a local runtime configuration. No Hub login is needed for a public download. `--profile experimental` downloads the research controller without activating it.
+
+`training-bundle.tar.gz` additionally contains the compact, versioned frozen-feature continuation experiment and its matching trainer; see the source repository training guide. It does not contain the full historical RGB dataset.
+
+## What controls the arm
+
+Front and wrist-mounted RGB renders are converted to luminance and mapped to annotated retinal neurons. Joint, aperture and contact feedback drive an engineered sensory encoding. A fixed persistent sensory graph runs on MLX/Metal; a constrained learned motor head runs on CPU and produces six joint targets plus gripper aperture at a nominal 2 Hz. Cube coordinates and inverse kinematics are used by teachers/evaluation, not by the actor's action selection.
+
+Training uses demonstration supervision and task-space objectives, with PyTorch MPS/CUDA optimization of selected existing signed connections and response offsets. It is not a validated biological learning simulation. A fixed dopamine multiplier in offline training is not demonstrated reward-driven fly learning. The touch-bank selector is engineered.
+
+After a qualifying hold (at least 100 mm clearance, at most 5° tilt for five seconds), a **scripted completion routine opens the gripper and verifies the floor landing**. Release is not a learned neural action. RealityKit, native actuators, floor limiting, camera projection, and the fly-to-robot mapping are engineered components.
+
+## Reuse and provenance
+
+Numerical arrays in the packaged checkpoints are byte-identical to their tested source versions. JSON provenance paths were normalized; `relocation.json` records before/after hashes. The installer preserves original historical evidence and rebases checkpoint addresses and metadata hashes in separate local copies. This is relocation verification, not a new simulator or hardware qualification. Backend parity was measured on Apple M2 Max with MLX 0.32.2.
+
+The bundles contain frozen features/targets, not the entire historical RGB observation corpus. Raw MaleCNS download tables are not duplicated here. Download/rebuild commands and research scripts live in the source repository.
+
+## Attribution and license
+
+Derived assets and published model artifacts: **CC BY 4.0**. Source code: MIT in the GitHub repository. MaleCNS work is by FlyEM at HHMI Janelia, University of Cambridge, MRC Laboratory of Molecular Biology, Google Research, and collaborators. Preserve the bundled `ATTRIBUTION.md` files.
+
+Source: [MaleCNS downloads and attribution](https://male-cns.janelia.org/download/). This independent experiment is not an official MaleCNS, Google, Janelia, Orbbec, or ReBot release, and does not establish biological fidelity or physical-robot safety.

cuda-continuation.tar.gz

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experimental.tar.gz

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release.json

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+{
+  "schema": "fly-brain-hub-release-v1",
+  "version": "2026-09-12",
+  "repo": "monomyth/fly-brain-codex",
+  "license": "cc-by-4.0",
+  "source": "https://github.com/monomyth/fly-brain-codex",
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+      "manifest_sha256": "396ce273b323fbe97750964fc56c1423e5fb8c90766a00cff2f4606da24f4fe1",
+      "status": "19/20 pickup and hold in a narrow region; separate UI drop check passed"
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+      "status": "12/15 complete tasks; 5 planned trials unrun; not UI qualified"
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runtime-assets.tar.gz

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stable.tar.gz

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