Nevertheless, Cartpole is a trivial RL task which only requires a few neurons to solve, much less hundreds. Since they're training it in silico, I'm not sure what this demonstrates other than you can cudgel a vaguely spiking-like neural network into learning a simple task. It's not a C. elegans behavior.
This is very close to a P controller (like PID, but without the integral and derivative terms).
It's a more accurate neuron model of some pretty weird neurons. In nearly all organisms, the vast majority of neurons fire all-or-nothing action potentials ("spikes"). C. elegans neurons do not.