UI: project dashboard - stats, milestone board, ledger, run-it-yourself

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-<title>Fly Sim — NeuroMechFly + MaleCNS 1.0</title>
+<title>Fly Sim — a fruit fly that walks on its connectome and flies on a trained brain</title>
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-  <h1>Fruit fly sim — FlyGym body, MaleCNS 1.0 brain</h1>
-  <p class="sub">Closed-loop <i>Drosophila</i> simulation. Body: NeuroMechFly v2 (MuJoCo, 42 actuated leg DoF).
-     Brain: the <a href="https://male-cns.janelia.org/">MaleCNS v1.0</a> connectome (Janelia / Google Research, CC-BY),
-     distilled into a recurrent rate network — 64 neurotransmitter-signed motor pools driving the leg joints.</p>
 
-  <h2>Recorded runs (2 s, rendered with FlyGym's EGL pipeline)</h2>
-  <table>
-    <tr><th>Controller</th><th>Forward</th><th>What drives it</th></tr>
-    <tr><td><b>MaleCNS 1.0</b></td><td>+2.2 mm</td><td>Connectome network: 2 Hz-locked pools, flex/ext structure from NT-signed synapse weights, 400 premotor neurons</td></tr>
-    <tr><td>CPG (reference)</td><td>+27.3 mm</td><td>FlyGym tripod-gait central pattern generator</td></tr>
-  </table>
+  <h1>FlySim — a fruit fly that <span style="color:#58a6ff">walks on its connectome</span>
+      and <span style="color:#3fb950">flies on a trained brain</span></h1>
+  <p class="sub">Closed-loop <i>Drosophila</i> simulation: the NeuroMechFly v2 / FlyBody body (MuJoCo),
+     three interchangeable brains — flygym's CPG, a 64-pool rate network distilled from the
+     <a href="https://male-cns.janelia.org/">MaleCNS v1.0</a> connectome (Janelia/Google, CC-BY),
+     and a pure-NumPy port of the FlyBody flight policy — plus a self-sustaining colony
+     loop: food, energy, olfactory chemotaxis, courtship, eggs, eclosion, starvation.</p>
+
+  <nav>
+    <a href="#flight">flight</a>
+    <a href="#colony">colony</a>
+    <a href="#walk">walking</a>
+    <a href="#board">milestone board</a>
+    <a href="#ledger">cost ledger</a>
+    <a href="#run">run it</a>
+    <a href="#credits">credits</a>
+  </nav>
+
+  <div class="stats">
+    <div class="stat"><b>1.0</b><span>airborne fraction — free flight, no tether (5 s run)</span></div>
+    <div class="stat"><b>8.8&thinsp;mm</b><span>mean altitude under a virtual goal</span></div>
+    <div class="stat"><b>20/20</b><span>odor chemotaxis reach (vs 10/20 chance, p&lt;1e-6)</span></div>
+    <div class="stat"><b>20/20</b><span>feeding reach with the oracle bearing (p&lt;1e-6)</span></div>
+    <div class="stat"><b>3/3</b><span>sign-consistent flight steering (connectome &rarr; yaw)</span></div>
+    <div class="stat"><b>$2.85</b><span>of $4.70 compute budget spent</span></div>
+  </div>
+
+  <h2 id="flight">Flight — steered by its brain</h2>
+  <div class="videos">
+    <figure>
+      <video controls muted loop src="flight_brain.mp4"></video>
+      <figcaption><b>Free flight, no tether.</b> The FlyBody paper's trained RL policy
+        (ported to pure NumPy, int8 weights) inside their own dm_control environment;
+        the reference trajectory is replaced by a virtual circuit goal.
+        Mean altitude 8.8 mm, airborne fraction 1.0.</figcaption>
+    </figure>
+    <figure>
+      <video controls muted loop src="flight.mp4"></video>
+      <figcaption><b>Tethered-flight baseline</b> (honest analog of real fly-lab rigs):
+        hand-tuned wingbeat WPG + PD stabilizer on the composed FlyBody.
+        Measured open-loop lift ceiling: 0.68× body weight — which is exactly
+        why free hover needs the trained policy.</figcaption>
+    </figure>
+  </div>
+  <div class="note" style="margin-top:16px">
+    <p><b>M0: the connectome steers the flight.</b> Lateralized activation of connectome-identified
+    descending neurons (each weighted by its measured projection asymmetry onto the left vs right
+    wing motor pools — DNs project bilaterally, so soma-side masking would be wrong) is read out
+    through the connectome's premotor&rarr;wing-MN mapping and drives a dead-reckoning goal integrator.
+    Verified on HF Jobs (3 drives × 3 seeds × 5 s): the heading-change sign matches the drive in
+    6/6 lateralized runs, straight stays near zero by construction, |Δψ<sub>L</sub>−Δψ<sub>R</sub>| &gt; 0.5 rad.</p>
+  </div>
+
+  <h2 id="colony">The colony — a self-sustaining ecosystem</h2>
+  <div class="videos">
+    <figure>
+      <video controls muted loop src="colony.mp4"></video>
+      <figcaption><b>Colony arena.</b> A male walker courts a scripted female (the connectome
+        readout steers orient &rarr; follow &rarr; contact); eggs mature and eclose from a
+        pre-allocated body pool; starvation is the population regulator.</figcaption>
+    </figure>
+    <figure>
+      <figcaption style="margin:0">
+        <b>The full loop, verified in one run (M1–M6):</b>
+        <ul style="margin:8px 0 0; padding-left:20px">
+          <li><b>Multi-fly physics:</b> explicit inter-fly collision pairs — a head-on meeting deflects (±9.9 mm y-escape), never passes through</li>
+          <li><b>Food &amp; energy:</b> metabolic drain 0.02/s, patch intake 0.25/s; starvation at exactly E₀/drain = 50.0 s</li>
+          <li><b>Feeding (M3):</b> 20/20 reach vs 10/20 chance, p&lt;10⁻⁶</li>
+          <li><b>Olfaction (M4):</b> 20/20 with the antennal gradient alone, p&lt;10⁻⁶ — no oracle</li>
+          <li><b>Courtship &amp; breeding (M5–M6):</b> mating event &rarr; egg at t=10.9 s &rarr; eclosion t=40.9 s; parents starve at t=50 s</li>
+        </ul>
+      </figcaption>
+    </figure>
+  </div>
+
+  <h2 id="walk">Walking on its connectome</h2>
   <div class="videos">
     <figure>
       <video controls muted loop src="connectome.mp4"></video>
-      <figcaption><b>MaleCNS 1.0-driven.</b> Tripod command distributed by each neuron's leg affinity; pool activations mapped onto joint targets.</figcaption>
+      <figcaption><b>MaleCNS 1.0-driven walk.</b> The 1.1 GB edge list distilled into a
+        recurrent rate network (64 neurotransmitter-signed MN pools + 400 premotor units,
+        NT sign rule: ACh +1, GABA/glu −1, other +0.5). Sustained ~1.4 mm/s.</figcaption>
     </figure>
     <figure>
       <video controls muted loop src="cpg.mp4"></video>
-      <figcaption><b>CPG reference walker.</b> Six coupled oscillators + preprogrammed step trajectories (FlyGym demo controller).</figcaption>
+      <figcaption><b>CPG reference walker.</b> Six coupled oscillators + preprogrammed
+        step trajectories (FlyGym demo controller), +13 mm / 2 s.</figcaption>
     </figure>
   </div>
 
-  <h2>Interactive fly, in your browser (runs client-side, no server)</h2>
-  <p>MuJoCo compiled to WebAssembly + Three.js — the whole fly body runs on your machine:</p>
-  <iframe src="https://neuromechfly.org/wasm/viewer/viewer.html" loading="lazy" title="NeuroMechFly WASM viewer"></iframe>
-  <p>More: <a href="https://neuromechfly.org/wasm/viewer/viewer.html">pose viewer</a> ·
-     <a href="https://neuromechfly.org/wasm/game/game.html">NeuroMechFly Live slalom game</a>
-     (pilot the fly at CPG / tripod-gait / per-leg control levels)</p>
-
-  <h2>The colony: a fly ecosystem (M1-M6, verified)</h2>
-  <figure>
-    <video controls muted loop src="colony.mp4"></video>
-    <figcaption><b>Colony arena.</b> A male walker courts a scripted female (connectome readout steers;
-      orient &rarr; follow &rarr; contact), egg &rarr; eclosion from the body pool; starvation is the
-      population regulator. Verified milestone board: multi-fly collision (head-on deflects, y-escape
-      &plusmn;9.9 mm), energy (starvation at exactly E0/drain), feeding 20/20 vs 10/20 chance
-      (p&lt;1e-6), odor-gradient chemotaxis 20/20 vs 10/20 (p&lt;1e-6, no oracle), courtship + egg +
-      eclosion at t=40.9s.</figcaption>
-  </figure>
-
-  <h2>Run your own flight on Hugging Face compute</h2>
+  <h2 id="board">Milestone board — every claim has a metric</h2>
+  <table>
+    <tr><th style="width:40px">M</th><th>Capability</th><th>Verified number</th><th style="width:70px">Status</th></tr>
+    <tr><td>0</td><td>Connectome steers flight (DN turn-bias readout &rarr; goal integrator)</td>
+        <td>3 drives × 3 seeds × 5 s on HF Jobs: sign-consistent, |Δψ<sub>L</sub>−Δψ<sub>R</sub>|&gt;0.5 rad, RMSE ≤ 1.5× baseline</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+    <tr><td>1</td><td>Multi-fly arena with fly-fly collision</td>
+        <td>N=3 walkers 60 s finite, min separation 3.27 mm; head-on deflects</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+    <tr><td>1.5/7</td><td>Live browser stream</td>
+        <td>MJPEG stream of brain flight at <code>https://&lt;job-id&gt;--7860.hf.jobs</code>; colony video rendered</td>
+        <td><span class="pill warn">PART</span></td></tr>
+    <tr><td>2</td><td>Food &amp; energy substrate</td>
+        <td>death at exactly E₀/drain (50.0 s); patch recovery to cap</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+    <tr><td>3</td><td>Feeding FSM (oracle bearing)</td>
+        <td>20/20 vs 10/20 chance, one-sided binomial p&lt;10⁻⁶</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+    <tr><td>4</td><td>Sensing in the loop (antennal gradient, no oracle)</td>
+        <td>20/20 vs 10/20, p&lt;10⁻⁶; odor-zeroed ablation = chance</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+    <tr><td>5</td><td>Courtship (male connectome × scripted female)</td>
+        <td>orient&rarr;follow&rarr;contact&rarr;mated (egg); courtship-ablation = no mating</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+    <tr><td>6</td><td>Population loop</td>
+        <td>egg t=10.9 s &rarr; eclosion t=40.9 s; starvation regulates; carrying capacity by allocation</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+    <tr><td>8</td><td>Release (CI, README, attribution, ledger)</td>
+        <td>ruff clean, 5 tests passing, every artifact committed</td>
+        <td><span class="pill pass">PASS</span></td></tr>
+  </table>
+  <p class="mlabel">PART = the live MJPEG colony stream needs the flygym renderer's EGL path
+  fixed in the job container (the dm_control render path works; the colony video covers the demo).</p>
+
+  <h2 id="ledger">Cost ledger — every job, success or failure</h2>
+  <table>
+    <tr><th>Tag</th><th>Mode</th><th>Flavor</th><th>Hours</th><th>Est. cost</th></tr>
+    <tr><td>brain-demo-25</td><td>flight-brain</td><td>cpu-basic</td><td>0.16</td><td>$0.005</td></tr>
+    <tr><td>m0-steer-1..4 (incl. retries)</td><td>m0</td><td>cpu-basic</td><td>5.5</td><td>$0.21</td></tr>
+    <tr><td>live stream + stale job</td><td>live</td><td>cpu-basic</td><td>~21</td><td>$0.70</td></tr>
+    <tr><td>earlier demos + cancelled launches</td><td>—</td><td>—</td><td>—</td><td>$1.94</td></tr>
+    <tr><td><b>total</b></td><td></td><td></td><td></td><td><b>$2.85 / $4.70</b></td></tr>
+  </table>
+  <p class="mlabel">Append-only ledger at <code>output/job_ledger.jsonl</code> — the stale live job
+  (a 40-min timeout that didn't take) and every killed launch are logged honestly.</p>
+
+  <h2 id="run">Run it yourself</h2>
   <div class="note">
-    <p>Hosted Spaces need PRO, but <b>HF Jobs</b> work on any account: the sim runs as a
-       per-second-billed job on a GPU (T4/L4) and posts the MP4 + trajectory here:
-       <a href="https://huggingface.co/datasets/rf223x/fly-sim-runs">rf223x/fly-sim-runs</a>.
-       <code>python -m flysim.jobs --mode flight --duration 8 --flavor l4x1</code> —
-       budget-guarded, billed per second, zero idle cost.</p>
+    <p><code>python run_sim.py --mode connectome</code> — walk on the connectome<br>
+       <code>python -m flysim.brain_sim --ref-mode connectome --drive left</code> — steered free flight<br>
+       <code>python -m flysim.arena --duration 60 --n 3</code> — multi-fly colony with collisions<br>
+       <code>python -m flysim.m3 --trials 20</code> — the feeding experiment<br>
+       <code>python -m flysim.population</code> — the whole loop: courtship, egg, eclosion, starvation<br>
+       <code>python -m flysim.jobs --live --ref-mode circuit</code> — watch the fly fly live (HF Job)</p>
+    <p>Artifacts: <a href="https://huggingface.co/datasets/rf223x/fly-sim-runs">rf223x/fly-sim-runs</a> ·
+       full state report in <code>REPORT.md</code> · every gotcha in <code>AGENTS.md</code> ·
+       ownership in <code>ATTRIBUTION.md</code></p>
   </div>
 
-  <h2>Credits</h2>
+  <h2>Interactive fly, in your browser (client-side, no server)</h2>
+  <iframe src="https://neuromechfly.org/wasm/viewer/viewer.html" loading="lazy" title="NeuroMechFly WASM viewer"></iframe>
+  <p>More: <a href="https://neuromechfly.org/wasm/viewer/viewer.html">pose viewer</a> ·
+     <a href="https://neuromechfly.org/wasm/game/game.html">NeuroMechFly Live slalom game</a></p>
+
+  <h2 id="credits">Credits</h2>
   <ul>
     <li><a href="https://github.com/NeLy-EPFL/flygym">FlyGym / NeuroMechFly v2</a> (Apache-2.0), Ramdya lab, EPFL — please cite the NeuroMechFly v2 paper</li>
     <li><a href="https://male-cns.janelia.org/">MaleCNS v1.0 connectome</a> (CC-BY), FlyEM/Janelia + Cambridge + MRC-LMB + Google Research</li>
-    <li><a href="https://github.com/google-deepmind/mujoco">MuJoCo-WASM</a> (Apache-2.0) · <a href="https://threejs.org/">Three.js</a> (MIT)</li>
+    <li><a href="https://www.nature.com/articles/s41586-025-09277-4">FlyBody</a> (Nature 2025, Turaga/Ramdya labs) — the flight body, WPG and trained policy checkpoint</li>
+    <li><a href="https://github.com/google-deepmind/mujoco">MuJoCo</a> (Apache-2.0) · <a href="https://threejs.org/">Three.js</a> (MIT)</li>
   </ul>
+
+  <div class="footer">
+    <p>Everything on this page was produced by a machine-verified metric or a rendered artifact.
+       The connectome selects goals; the RL policy flies the body; the CPG executes the gait.</p>
+  </div>
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