In contrast to the wealth of knowledge about the organizational rules of adult central pattern generators, far less is known about how these networks are assembled during development. The basic architecture for adult central pattern generators appears early in development but different generators may follow completely different developmental pathways to reach maturity. Recent evidence suggests that neuromodulatory inputs, in addition to their short-term adaptive control of central pattern generator activity, play a crucial role in both the final developmental tuning and the long-term maintenance of adult network function.