MH-FLOCKE is now open source — spiking neural network beats PPO 3.5x on quadruped locomotion (no backprop, no GPU)

Code is finally public. Some of you asked for it after my earlier posts.

github.com/MarcHesse/mhflocke

What it is:

• 4,650 Izhikevich spiking neurons with R-STDP (reward-modulated spike-timing-dependent plasticity)
• Central Pattern Generator for innate gait
• Cerebellar forward model (Marr-Albus-Ito) for balance correction
• Competence gate: CPG fades as the SNN proves it can walk

Results (Unitree Go2, MuJoCo, 10 seeds, 50k steps):

• Full system: 45.15 ± 0.67m
• PPO baseline: 12.83 ± 7.78m
• Zero falls

GitHub: github.com/MarcHesse/mhflocke Paper: doi.org/10.5281/zenodo.19336894 Paper: aixiv.science/abs/aixiv.260301.000002 Docs: mhflocke.com/docs/ YouTube: youtube.com/@mhflocke — new results and demos posted here

Solo project. Happy to discuss the architecture or results.