Egocentric and allocentric representations of space in the rodent brain

A neural code for egocentric spatial maps in the human medial temporal lobe

Spatial navigation and memory rely on neural systems that encode places, distances, and directions in relation to the external world or relative to the navigating organism. Place, grid, and head-direction cells form key units of world-referenced, allocentric cognitive maps, but the neural basis of self-centered, egocentric representations remains poorly understood. Here, we used human single-neuron recordings during virtual spatial navigation tasks to identify neurons providing a neural code for egocentric spatial maps in the human brain. Consistent with previous observations in rodents, these neurons represented egocentric bearings toward reference points positioned throughout the environment. Egocentric bearing cells were abundant in the parahippocampal cortex and supported vectorial representations of egocentric space by also encoding distances toward reference points. Beyond navigation, the observed neurons showed activity increases during spatial and episodic memory recall, suggesting that egocentric bearing cells are not only relevant for navigation but also play a role in human memory.

Microcircuits for spatial coding in the medial entorhinal cortex

The hippocampal formation is critically involved in learning and memory and contains a large proportion of neurons encoding aspects of the organism’s spatial surroundings. In the medial entorhinal cortex (MEC), this includes grid cells with their distinctive hexagonal firing fields as well as a host of other functionally defined cell types including head direction cells, speed cells, border cells, and object-vector cells. Such spatial coding emerges from the processing of external inputs by local microcircuits. However, it remains unclear exactly how local microcircuits and their dynamics within the MEC contribute to spatial discharge patterns. In this review we focus on recent investigations of intrinsic MEC connectivity, which have started to describe and quantify both excitatory and inhibitory wiring in the superficial layers of the MEC. Although the picture is far from complete, it appears that these layers contain robust recurrent connectivity that could sustain the attractor dynamics posited to underlie grid pattern formation. These findings pave the way to a deeper understanding of the mechanisms underlying spatial navigation and memory.

Sex Differences in Spatial Memory: Comparison of Three Tasks Using the Same Virtual Context

Spatial memory has been studied through different instruments and tools with different modalities of administration. The cognitive load varies depending on the measure used and it should be taken into account to correctly interpret results. The aim of this research was to analyze how men and women perform three different spatial memory tasks with the same spatial context but with different cognitive demands. A total of 287 undergraduate students from the University of Almeria (Spain) and the University of L'Aquila (Italy) participated in the study. They were divided into three groups balanced by sex according to the spatial memory test they performed: the Walking Space Boxes Room Task (WSBRT), the Almeria Spatial Memory Recognition Test (ASMRT) and the Non-Walking Space Boxes Room Task (NWSBRT). Time spent and number of errors/correct answers were registered for analysis. In relation to the WSBRT and the ASMRT, men were faster and reached the optimal level of performance before women. In the three tests, familiarity with the spatial context helped to reduce the number of errors, regardless of the level of difficulty. In conclusion, sex differences were determined by the familiarity with the spatial context, the difficulty level of the task, the active or passive role of the participant and the amount of visual information provided in each screen shot.

Preferential frequency-dependent induction of synaptic depression by the lateral perforant path and of synaptic potentiation by the medial perforant path inputs to the dentate gyrus

The encoding of spatial representations is enabled by synaptic plasticity. The entorhinal cortex sends information to the hippocampus via the lateral (LPP) and medial perforant (MPP) paths that transfer egocentric item-related and allocentric spatial information, respectively. To what extent LPP and MPP information-relay results in different homosynaptic synaptic plasticity responses is unclear. We examined the frequency dependency (at 1, 5, 10, 50, 100, 200 Hz) of long-term potentiation (LTP) and long-term depression (LTD) at MPP and LPP synapses in the dentate gyrus (DG) of freely behaving adult rats. We report that whereas the MPP-DG synapses exhibit a predisposition toward the expression of LTP, LPP-DG synapses prefer to express synaptic depression. The divergence of synaptic plasticity responses is most prominent at afferent frequencies of 5, 100, Hz and 200 Hz. Priming with 10 or 50 Hz significantly modified the subsequent plasticity response in a frequency-dependent manner, but failed to change the preferred direction of change in synaptic strength of MPP and LPP synapses. Evaluation of the expression of GluN1, GluN2A, or GluN2B subunits of the NMDA receptor revealed equivalent expression in the outer and middle thirds of the molecular layer where LPP and MPP inputs convene, respectively, thus excluding NMDA receptors as a substrate for the frequency-dependent differences in bidirectional plasticity. These findings demonstrate that the LPP and MPP inputs to the DG enable differentiated and distinct forms of synaptic plasticity in response to the same afferent frequencies. Effects are extremely robust and resilient to metaplastic priming. These properties may support the functional differentiation of allocentric and item information provided to the DG by the MPP and LPP, respectively, that has been proposed by others. We propose that allocentric spatial information, conveyed by the MPP is encoded through hippocampal LTP in a designated synaptic network. This network is refined and optimized to include egocentric contextual information through LTD triggered by LPP inputs.

What are grid-like responses doing in the orbitofrontal cortex?

In 2005, the Moser group identified a new type of cell in the entorhinal cortex (ERC): the grid cell (Hafting, Nature, 436, 2005, pp. 801-806). A landmark series of studies from these investigators showed that grid cells support spatial navigation by encoding position, direction as well as distance information, and they subsequently found grid cells in pre- and para-subiculum areas adjacent to the ERC (Boccara, Nature Neuroscience, 13, 2010, pp. 987-994). Fast forward to 2010, when some clever investigators developed fMRI analysis methods to document grid-like responses in the human ERC (Doeller, Nature, 463, 2010, pp. 657-661). What was not at all expected was the co-identification of grid-like fMRI responses outside of the ERC, in particular, the orbitofrontal cortex (OFC) and the ventromedial prefrontal cortex (vmPFC). Here we provide a compact overview of the burgeoning literature on grid cells in both rodent and human species, while considering the intriguing question: what are grid-like responses doing in the OFC and vmPFC? (PsycInfo Database Record (c) 2021 APA, all rights reserved).

Factors Related to the Performance of Elite Young Sailors in a Regatta: Spatial Orientation, Age and Experience

The objective of this study was to examine the role of spatial orientation in the performance of sport sailors. Participants were 30 elite male sailors from classes 420, Laser, Windsurfing RS:X and Windsurfing Techno, grouped into two categories: Monohull (18 sailors) and Windsurfing (12 sailors). Ages ranged between 13 and 18 years old (M = 15.7, SD = 1.05). To assess spatial orientation, the Perspective Taking/Spatial Orientation Test was used, and performance was inferred from the final classification at the regatta. In addition, the influence of experience and age on the performance was analyzed. The results show that in the Monohull group, the performance is determined by the spatial orientation (18% of the explained variance), while in the Windsurfing group, the variables that are related to performance are sailing experience and age (60% of the explained variance). Spatial orientation seems to be the more important variable for performance in the Monohull group, while in classes belonging to the Windsurfing group, this variable does not seem to be decisive for obtaining good results in the regatta.

An immersive first-person navigation task for abstract knowledge acquisition

Advances in virtual reality (VR) technology have greatly benefited spatial navigation research. By presenting space in a controlled manner, changing aspects of the environment one at a time or manipulating the gain from different sensory inputs, the mechanisms underlying spatial behaviour can be investigated. In parallel, a growing body of evidence suggests that the processes involved in spatial navigation extend to non-spatial domains. Here, we leverage VR technology advances to test whether participants can navigate abstract knowledge. We designed a two-dimensional quantity space-presented using a head-mounted display-to test if participants can navigate abstract knowledge using a first-person perspective navigation paradigm. To investigate the effect of physical movement, we divided participants into two groups: one walking and rotating on a motion platform, the other group using a gamepad to move through the abstract space. We found that both groups learned to navigate using a first-person perspective and formed accurate representations of the abstract space. Interestingly, navigation in the quantity space resembled behavioural patterns observed in navigation studies using environments with natural visuospatial cues. Notably, both groups demonstrated similar patterns of learning. Taken together, these results imply that both self-movement and remote exploration can be used to learn the relational mapping between abstract stimuli.

Basal Forebrain Atrophy Is Associated With Allocentric Navigation Deficits in Subjective Cognitive Decline

Individuals with subjective cognitive decline (SCD) are at higher risk of incipient Alzheimer's disease (AD). Spatial navigation (SN) impairments in AD dementia and mild cognitive impairment patients have been well-documented; however, studies investigating SN deficits in SCD subjects are still lacking. This study aimed to explore whether basal forebrain (BF) and entorhinal cortex (EC) atrophy contribute to spatial disorientation in the SCD stage. In total, 31 SCD subjects and 24 normal controls were enrolled and administered cognitive scales, a 2-dimensional computerized SN test, and structural magnetic resonance imaging (MRI) scanning. We computed the differences in navigation distance errors and volumes of BF subfields, EC, and hippocampus between the SCD and control groups. The correlations between MRI volumetry and navigation distance errors were also calculated. Compared with the controls, the SCD subjects performed worse in both egocentric and allocentric navigation. The SCD group showed volume reductions in the whole BF (p < 0.05, uncorrected) and the Ch4p subfield (p < 0.05, Bonferroni corrected), but comparable EC and hippocampal volumes with the controls. In the SCD cohort, the allocentric errors were negatively correlated with total BF (r = −0.625, p < 0.001), Ch4p (r = −0.625, p < 0.001), total EC (r = −0.423, p = 0.031), and left EC volumes (r = −0.442, p = 0.024), adjusting for age, gender, years of education, total intracranial volume, and hippocampal volume. This study demonstrates that SN deficits and BF atrophy may be promising indicators for the early detection of incipient AD patients. The reduced BF volume, especially in the Ch4p subfield, may serve as a structural basis for allocentric disorientation in SCD subjects independent of hippocampal atrophy. Our findings may have further implications for the preclinical diagnosis and intervention for potential AD patients.

Reframing spatial frames of reference: What can aging tell us about egocentric and allocentric navigation?

Representations of space in mind are crucial for navigation, facilitating processes such as remembering landmark locations, understanding spatial relationships between objects, and integrating routes. A significant problem, however, is the lack of consensus on how these representations are encoded and stored in memory. Specifically, the nature of egocentric and allocentric frames of reference in human memory is widely debated. Yet, in recent investigations of the spatial domain across the lifespan, these distinctions in mnemonic spatial frames of reference have identified age-related impairments. In this review, we survey the ways in which different terms related to spatial representations in memory have been operationalized in past aging research and suggest a taxonomy to provide a common language for future investigations and theoretical discussion. This article is categorized under: Psychology > Memory Neuroscience > Cognition Psychology > Development and Aging.

Anterolateral entorhinal cortex volume is associated with memory retention in clinically unimpaired older adults

The entorhinal cortex is subdivided into anterolateral entorhinal cortex (alERC) and posteromedial entorhinal cortex (pmERC) subregions, which are theorized to support distinct cognitive roles. This distinction is particularly important as the alERC is one of the earliest cortical regions affected by Alzheimer's pathology and related neurodegeneration. The relative associations of alERC/pmERC with neuropsychological test performance have not been examined. We examined how alERC/pmERC volumes differentially relate to performance on 1) the Modified Rey Auditory Learning Test (ModRey), a verbal memory test designed to assess normal/preclinical populations, 2) the Montreal Cognitive Assessment (MoCA), and 3) the National Alzheimer's Coordinating Center neuropsychological battery. We also examined whether alERC/pmERC volumes correlate with Alzheimer's disease cerebrospinal fluid (CSF) biomarkers. In 65 cognitively healthy (CDR = 0) older adults, alERC, but not pmERC, volume was associated with ModRey memory retention. Only alERC volume differentiated between participants who scored above and below the MoCA cutoff score for impairment. Evaluating the MoCA subdomains revealed that alERC was particularly associated with verbal recall. On the National Alzheimer's Coordinating Center battery, both alERC and pmERC volumes were associated with Craft story recall and Benson figure copy, but only alERC volume was associated with Craft story retention and semantic fluency. Neither alERC nor pmERC volume correlated with CSF levels of amyloid or tau, and regression analyses showed that alERC volume and CSF amyloid levels were independently associated with ModRey retention performance. Taken together, these results suggest that the alERC is important for memory performance and that alERC volume differences are related to a pattern of neuropsychological test performance (i.e., impairments in episodic memory and semantic fluency) typically seen in clinical Alzheimer's disease.

Involvement of the Postrhinal and Perirhinal Cortices in Microscale and Macroscale Visuospatial Information Encoding

Whereas the postrhinal cortex (POR) is a critical center for the integration of egocentric and allocentric spatial information, the perirhinal cortex (PRC) plays an important role in the encoding of objects that supports spatial learning. The POR and PRC send afferents to the hippocampus, a structure that builds complex associative memories from the spatial experience. Hippocampal encoding of item-place experience is accompanied by the nuclear expression of immediate early gene (IEGs). Subfields of the Cornus ammonius and subregions of the hippocampus exhibit differentiated and distinct encoding responses, depending on whether the spatial location and relationships of large highly visible items (macroscale encoding) or small partially concealed items (microscale encoding), is learned. But to what extent the PRC and POR support hippocampal processing of different kinds of item-place representations is unclear. Using fluorescence in situ hybridization (FISH), we examined the effect of macroscale (overt, landmark) and microscale (subtle, discrete) item-place learning on the nuclear expression of the IEG, Arc. We observed an increase in Arc mRNA in the caudal part of PRC area 35 and the caudal part of the POR after macroscale, but not microscale item-place learning. The caudal part of PRC area 36, the rostral and middle parts of PRC areas 35 and 36, as well as the middle part of the POR responded to neither type of item. These results suggest that macroscale items may contain a strong identity component that is processed by specific compartments of the PRC and POR. In contrast small, microscale items are not encoded by the POR or PRC, indicating that item dimensions may play a role in the involvement of these structures in item processing.

Parallel processing streams in the hippocampus

The hippocampus performs two complementary processes, pattern separation and pattern completion, to minimize interference and maximize the storage capacity of memories. Classic computational models have suggested that the dentate gyrus (DG) supports pattern separation and the putative attractor circuitry in CA3 supports pattern completion. However, recent evidence of functional heterogeneity along the CA3 transverse axis of the hippocampus suggests that the DG and proximal CA3 work as a functional unit for pattern separation, while distal CA3 forms an autoassociative network for pattern completion. We propose that the outputs of these functional circuits, combined with direct projections from entorhinal cortex to CA1, form interconnected, parallel processing circuits to support accurate memory storage and retrieval.

Posterior parietal cortex contributions to cross-modal brain plasticity upon sensory loss

Sensory loss causes compensatory behavior, like echolocation upon vision loss or improved visual motion detection upon deafness. This is enabled by recruitment of the deprived cortical area by the intact senses. Such cross-modal plasticity can however hamper rehabilitation via sensory substitution devices. To steer rehabilitation towards the desired outcome for the patient, having control over the cross-modal take-over is essential. Evidence accumulates to support a role for the posterior parietal cortex (PPC) in multimodal plasticity. This area shows increased activity after sensory loss, keeping similar functions but driven by other senses. Patient-specific factors like stress, social situation, age and attention, have a significant influence on the PPC and on cross-modal plasticity. We propose that understanding the response of the PPC to sensory loss and context is extremely important for determining the best possible implant-based therapies, and that mouse research holds potential to help unraveling the underlying anatomical, cellular and neuromodulatory mechanisms.

Neuronal vector coding in spatial cognition

Several types of neurons involved in spatial navigation and memory encode the distance and direction (that is, the vector) between an agent and items in its environment. Such vectorial information provides a powerful basis for spatial cognition by representing the geometric relationships between the self and the external world. Here, we review the explicit encoding of vectorial information by neurons in and around the hippocampal formation, far from the sensory periphery. The parahippocampal, retrosplenial and parietal cortices, as well as the hippocampal formation and striatum, provide a plethora of examples of vector coding at the single neuron level. We provide a functional taxonomy of cells with vectorial receptive fields as reported in experiments and proposed in theoretical work. The responses of these neurons may provide the fundamental neural basis for the (bottom-up) representation of environmental layout and (top-down) memory-guided generation of visuospatial imagery and navigational planning.

The Neuroscience of Spatial Navigation and the Relationship to Artificial Intelligence

Recent advances in artificial intelligence (AI) and neuroscience are impressive. In AI, this includes the development of computer programs that can beat a grandmaster at GO or outperform human radiologists at cancer detection. A great deal of these technological developments are directly related to progress in artificial neural networks-initially inspired by our knowledge about how the brain carries out computation. In parallel, neuroscience has also experienced significant advances in understanding the brain. For example, in the field of spatial navigation, knowledge about the mechanisms and brain regions involved in neural computations of cognitive maps-an internal representation of space-recently received the Nobel Prize in medicine. Much of the recent progress in neuroscience has partly been due to the development of technology used to record from very large populations of neurons in multiple regions of the brain with exquisite temporal and spatial resolution in behaving animals. With the advent of the vast quantities of data that these techniques allow us to collect there has been an increased interest in the intersection between AI and neuroscience, many of these intersections involve using AI as a novel tool to explore and analyze these large data sets. However, given the common initial motivation point-to understand the brain-these disciplines could be more strongly linked. Currently much of this potential synergy is not being realized. We propose that spatial navigation is an excellent area in which these two disciplines can converge to help advance what we know about the brain. In this review, we first summarize progress in the neuroscience of spatial navigation and reinforcement learning. We then turn our attention to discuss how spatial navigation has been modeled using descriptive, mechanistic, and normative approaches and the use of AI in such models. Next, we discuss how AI can advance neuroscience, how neuroscience can advance AI, and the limitations of these approaches. We finally conclude by highlighting promising lines of research in which spatial navigation can be the point of intersection between neuroscience and AI and how this can contribute to the advancement of the understanding of intelligent behavior.

Perspective Taking in Deep Reinforcement Learning Agents

Perspective taking is the ability to take into account what the other agent knows. This skill is not unique to humans as it is also displayed by other animals like chimpanzees. It is an essential ability for social interactions, including efficient cooperation, competition, and communication. Here we present our progress toward building artificial agents with such abilities. We implemented a perspective taking task inspired by experiments done with chimpanzees. We show that agents controlled by artificial neural networks can learn via reinforcement learning to pass simple tests that require some aspects of perspective taking capabilities. We studied whether this ability is more readily learned by agents with information encoded in allocentric or egocentric form for both their visual perception and motor actions. We believe that, in the long run, building artificial agents with perspective taking ability can help us develop artificial intelligence that is more human-like and easier to communicate with.

Lateral entorhinal cortex lesions impair both egocentric and allocentric object-place associations

During navigation, landmark processing is critical either for generating an allocentric-based cognitive map or in facilitating egocentric-based strategies. Increasing evidence from manipulation and single-unit recording studies has highlighted the role of the entorhinal cortex in processing landmarks. In particular, the lateral (LEC) and medial (MEC) sub-regions of the entorhinal cortex have been shown to attend to proximal and distal landmarks, respectively. Recent studies have identified a further dissociation in cue processing between the LEC and MEC based on spatial frames of reference. Neurons in the LEC preferentially encode egocentric cues while those in the MEC encode allocentric cues. In this study, we assessed the impact of disrupting the LEC on landmark-based spatial memory in both egocentric and allocentric reference frames. Animals that received excitotoxic lesions of the LEC were significantly impaired, relative to controls, on both egocentric and allocentric versions of an object–place association task. Notably, LEC lesioned animals performed at chance on the egocentric version but above chance on the allocentric version. There was no significant difference in performance between the two groups on an object recognition and spatial T-maze task. Taken together, these results indicate that the LEC plays a role in feature integration more broadly and in specifically processing spatial information within an egocentric reference frame.

Stereotyped, automatized and habitual behaviours: are they similar constructs under the control of the same cerebral areas?

Comprehensive knowledge about higher executive functions of motor control has been covered in the last decades. Critical goals have been targeted through many different technological approaches. An abundant flow of new results greatly progressed our ability to respond at better-posited answers to look more than ever at the challenging neural system functioning. Behaviour is the observable result of the invisible, as complex cerebral functioning. Many pathological states are approached after symptomatology categorisation of behavioural impairments is achieved. Motor, non-motor and psychiatric signs are greatly shared by many neurological/psychiatric disorders. Together with the cerebral cortex, the basal ganglia contribute to the expression of behaviour promoting the correct action schemas and the selection of appropriate sub-goals based on the evaluation of action outcomes. The present review focus on the basic classification of higher motor control functioning, taking into account the recent advances in basal ganglia structural knowledge and the computational model of basal ganglia functioning. We discuss about the basal ganglia capability in executing ordered motor patterns in which any single movement is linked to each other into an action, and many actions are ordered into each other, giving them a syntactic value to the final behaviour. The stereotypic, automatized and habitual behaviour's constructs and controls are the expression of successive stages of rule internalization and categorisation aimed in producing the perfect spatial-temporal control of motor command.

Eye and head movements and vestibulo-ocular reflex in the context of indirect, referent control of motor actions

Conventional explanations of the vestibulo-ocular reflex (VOR) and eye and head movements are revisited by considering two alternative frameworks addressing the question of how the brain controls motor actions. Traditionally, biomechanical and/or computational frameworks reflect the views of several prominent scholars of the past, including Helmholtz and von Holst, who assumed that the brain directly specifies the desired motor outcome and uses efference copy to influence perception. However, empirical studies resulting in the theory of referent control of action and perception (an extension of the equilibrium-point hypothesis) revealed that direct specification of motor outcome is inconsistent with nonlinear properties of motoneurons and with the physical principle that the brain can control motor actions only indirectly, by changing or maintaining the values of neurophysiological parameters that influence, but can remain independent of, biomechanical variables. Some parameters are used to shift the origin (referent) points of spatial frames of reference (FRs) or system of coordinates in which motor actions emerge without being predetermined. Parameters are adjusted until the emergent motor actions meet the task demands. Several physiological parameters and spatial FRs have been identified, supporting the notion of indirect, referent control of movements. Instead of integration of velocity-dependent signals, position-dimensional referent signals underlying head motion can likely be transmitted to motoneurons of extraocular muscles. This would produce compensatory eye movement preventing shifts in gaze during head rotation, even after bilateral destruction of the labyrinths. The referent control framework symbolizes a shift in the paradigm for the understanding of VOR and eye and head movement production.

Children five-to-nine years old can use path integration to build a cognitive map without vision

Although spatial navigation competence improves greatly from birth to adulthood, different spatial memory capacities emerge at different ages. Here, we characterized the capacity of 5-9-year-old children to use path integration to build egocentric and allocentric spatial representations to navigate in their environment, and compared their performance with that of young adults. First, blindfolded participants were tested on their ability to return to a starting point after being led on straight and two-legged paths. This egocentric homing task comprising angular and linear displacements allowed us to evaluate path integration capacities in absence of external landmarks. Second, we evaluated whether participants could use path integration, in absence of visual information, to create an allocentric spatial representation to navigate along novel paths between objects, and thus demonstrate the ability to build a cognitive map of their environment. Ninety percent of the 5-9-year-old children could use path integration to create an egocentric representation of their journey to return to a starting point, but they were overall less precise than adults. Sixty-four percent of 5-9-year-old children were capable of using path integration to build a cognitive map enabling them to take shortcuts, and task performance was not dependent on age. Imprecisions in novel paths made by the children who built a cognitive map could be explained by poorer integration of the experienced turns during the learning phase, as well as greater individual variability. In sum, these findings demonstrate that 5-9-year-old children can use path integration to build a cognitive map in absence of visual information.

Navigation: How Spatial Cognition Is Transformed into Action

Navigation relies on the brain's ability to build a cognitive map of the environment, and to use such a map to guide the animal's movements to goals. A new study proposes that the secondary motor cortex might convert the map into action.

Neurophysiological coding of space and time in the hippocampus, entorhinal cortex, and retrosplenial cortex

Neurophysiological recordings in behaving rodents demonstrate neuronal response properties that may code space and time for episodic memory and goal-directed behaviour. Here, we review recordings from hippocampus, entorhinal cortex, and retrosplenial cortex to address the problem of how neurons encode multiple overlapping spatiotemporal trajectories and disambiguate these for accurate memory-guided behaviour. The solution could involve neurons in the entorhinal cortex and hippocampus that show mixed selectivity, coding both time and location. Some grid cells and place cells that code space also respond selectively as time cells, allowing differentiation of time intervals when a rat runs in the same location during a delay period. Cells in these regions also develop new representations that differentially code the context of prior or future behaviour allowing disambiguation of overlapping trajectories. Spiking activity is also modulated by running speed and head direction, supporting the coding of episodic memory not as a series of snapshots but as a trajectory that can also be distinguished on the basis of speed and direction. Recent data also address the mechanisms by which sensory input could distinguish different spatial locations. Changes in firing rate reflect running speed on long but not short time intervals, and few cells code movement direction, arguing against path integration for coding location. Instead, new evidence for neural coding of environmental boundaries in egocentric coordinates fits with a modelling framework in which egocentric coding of barriers combined with head direction generates distinct allocentric coding of location. The egocentric input can be used both for coding the location of spatiotemporal trajectories and for retrieving specific viewpoints of the environment. Overall, these different patterns of neural activity can be used for encoding and disambiguation of prior episodic spatiotemporal trajectories or for planning of future goal-directed spatiotemporal trajectories.