Physics Aware Flies: Interactive Simulation

Experience SE(3) group dynamics in action. Click inside the simulation to add attractors, repellents, and plumes.

Simulator ↔ Ideas

Flies = Agents with poses in SE(3); they move by sampling on‑manifold increments (body‑frame step + small rotation) and left‑multiplying their pose.
Generator (top panel) samples increments from a mixture:
Haar (uniform orientation on SO(3)) — preserves measure; Goal — heads toward nearest attractor; Plume — follows attention gradient; Explore — jitter/curiosity.
Critic (GAN-like) scores proposals by reward: closer to attractors, away from repellents, riding attention plumes, avoiding walls/collisions. With Evolve ✓, the generator's mixture weights update online (REINFORCE‑style).
Click inside box with the current Click Mode:
- Attractor (gold sphere): pulls agents; think "goal".
- Repellent (red sphere): pushes agents; think "risk".
- Plume (blue puff): injects attention that diffuses/decays; think "trend/signal".
- Shift‑click removes the nearest object.
Ghost segments show sampled proposals (the generator's one‑step prior) near a subset of flies — you're seeing the distribution you're training.

🎮 Controls

Legend: Attractor ● Repellent ● Plume ●
Prior samples: Haar (gray) • Goal (green) • Plume (blue) • Explore (magenta)

⚙️ Settings

Mode Prior

κ (direction concentration)

6.0

Haar mix λ

0.15

Proposals / step

σ_t transl. noise

0.12

Show prior samples

Evolve generator

Critic weights (goal/plume/repel)

1.00

0.80

1.20

Flies

400

Speed scale

1.00

Time scale

1.00

t=0 | flies=0 | proposals=0 | reward=0.00 | haarΔ(yaw)=0.00