Usually "based on" means the original codebase is mirrored/extended. Arguably if what you say is true, that is Helios' design has minor differences to seL4, the

Usually "based on" means the original codebase is mirrored/extended. Arguably if what you say is true, that is Helios' design has minor differences to seL4, then "based on" in reference to the design is indeed better description than "inspired from" which makes it sound (imo) to have significant changes.