Extended Data Fig. 5: Example sensory input.

Sensory inputs to the flight imitation policy in Fig. 2. Vestibular sensors (velocimeter, accelerometer, gyro, gravity direction), proprioception (joint angles and joint velocities), and steering commands (target displacement and orientation) are shown. For clarity, we only show wing joint angles and omit the future preview of the steering command. More details in the Supplementary Information and Supplementary Table 6. Most of the observables are Cartesian vectors and their xyz components are correspondingly colour-coded as RGB. All inputs are represented in the fly’s egocentric reference frame.