Abstract
Whole-brain biological neural networks naturally support the learning and control of whole-body movements. However, the use of brain connectomes as neural network controllers in embodied reinforcement learning remains unexplored. We investigate using the exact neural architecture of an adult fruit fly's brain for the control of its body movement. We develop Fly-connectomic Graph Model (FlyGM), whose static structure is identical to the complete connectome of an adult Drosophila for whole-body locomotion control. To perform dynamical control, FlyGM represents the static connectome as a directed message-passing graph to impose a biologically grounded information flow from sensory inputs to motor outputs. Integrated with a biomechanical fruit fly model, our method achieves stable control across diverse locomotion tasks without task-specific architectural tuning. To verify the structural advantages of the connectome-based model, we compare it against a degree-preserving rewired graph, a ra