arXiv:2607.00025cs.ROcs.AI2026-07

用果蝇大脑结构设计神经网络,导航更抗干扰。

FLYNN: Robust Neural Network for Robot Navigation using Fly Brain Topology

论文配图:FLYNN: Robust Neural Network for Robot Navigation using Fly Brain Topology
图 1 · 摘自论文原文
  • 模仿果蝇脑连接组构建递归网络,结构源自真实生物
  • 在视觉缺失时仍能导航,性能远超传统模型
  • 适合需要高鲁棒性的机器人控制场景

尽管深度学习模型在复杂任务中表现优异,但在新环境或感官缺失时仍显脆弱。相比之下,生物系统展现出强大适应性。我们提出一种基于果蝇黑腹虫(Drosophila melanogaster)突触级脑连接组的循环神经网络(RNN),命名为FLYNN。在MuJoCo环境中训练该网络完成视觉导航任务,其性能与同参数量的手工设计网络相当。关键在于,FLYNN对分布外数据(OOD)具有更强抵抗力,且无需再训练即可耐受感官丧失。即使完全失去视觉输入,其仍可正常运行,而手工网络即便专门训练过摄像头失效也基本失效。主成分分析(PCA)显示FLYNN内部状态具有高度表征模块性,可能与其鲁棒性相关。本研究为构建抗干扰人工智能系统提供了新路径。

原文摘要 · Abstract (English)

While deep learning models achieve state-of-the-art performance in complex tasks, they remain brittle when faced with new environments or sensory deprivation. In contrast, biological systems exhibit remarkable tolerance to these challenges. We address this vulnerability by developing a recurrent neural network (RNN) whose architecture is directly derived from the synaptic-resolution brain connectome of the fruit fly Drosophila melanogaster. We demonstrate the feasibility of training the fly connectome neural network (FLYNN) to perform vision-based navigation in MuJoCo, achieving performance comparable to modern hand-crafted networks of similar parameter counts. Crucially, FLYNN exhibits superior resistance to out-of-distribution (OOD) data and tolerance to sensory loss without further training. It remained functional even under total vision loss while hand-crafted networks largely failed, even when specifically trained with camera dropout. Principal Component Analysis (PCA) of the internal state of FLYNN suggests that it exhibits a particularly high degree of representational modularity, which might be related to its robustness. Our work provides a new direction for designing resilient artificial agents following the topology of biological brains.

神经网络机器人导航生物启发鲁棒性

Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。