Small Brain. Big Trades.

Sensor-built spatial memory and a fixed spike-latency decoder. Locally visible clearance and floor-reflectance measurements are projected into identified native fly interneurons connected by learned excitatory links. Native LIF spike waves select paths over observed free cells; no CPU BFS, A*, distance transform or route planner. Actuation still passes through the trained native motor circuit. This is an engineered circuit, not an intact biological connectome navigation claim.