Development of the hippocampal cognitive map in preweanling rats

Emergence of preconfigured and plastic time-compressed sequences in early postnatal development

When and how hippocampal neuronal ensembles first organize to support encoding and consolidation of memory episodes, a critical cognitive function of the brain, are unknown. We recorded electrophysiological activity from large ensembles of hippocampal neurons starting on the first day after eye opening as naïve rats navigated linear environments and slept. We found a gradual age-dependent, navigational experience-independent assembly of preconfigured trajectory-like sequences from persistent, location-depicting ensembles during postnatal week 3. Adult-like compressed binding of adjacent locations into trajectories during navigation and their navigational experience-dependent replay during sleep emerged in concert from spontaneous preconfigured sequences only during early postnatal week 4. Our findings reveal ethologically relevant distinct phases in the development of hippocampal preconfigured and experience-dependent sequential patterns thought to be important for episodic memory formation.

Construction and disruption of spatial memory networks during development

Spatial memory, the aspect of memory involving encoding and retrieval of information regarding one's environment and spatial orientation, is a complex biological function incorporating multiple neuronal networks. Hippocampus-dependent spatial memory is not innate and emerges during development in both humans and rodents. In children, nonhippocampal dependent egocentric (self-to-object) memory develops before hippocampal-dependent allocentric (object-to-object) memory. The onset of allocentric spatial memory abilities in children around 22 mo of age occurs at an age-equivalent time in rodents when spatially tuned grid and place cells arise from patterned activity propagating through the entorhinal-hippocampal circuit. Neuronal activity, often driven by specific sensory signals, is critical for the normal maturation of brain circuits This patterned activity fine-tunes synaptic connectivity of the network and drives the emergence of specific firing necessary for spatial memory. Whereas normal activity patterns are required for circuit maturation, aberrant neuronal activity during development can have major adverse consequences, disrupting the development of spatial memory. Seizures during infancy, involving massive bursts of synchronized network activity, result in impaired spatial memory when animals are tested as adolescents or adults. This impaired spatial memory is accompanied by alterations in spatial and temporal coding of place cells. The molecular mechanisms by which early-life seizures lead to disruptions at the cellular and network levels are now becoming better understood, and provide a target for intervention, potentially leading to improved cognitive outcome in individuals experiencing early-life seizures.

Development and topographical organization of projections from the hippocampus and parahippocampus to the retrosplenial cortex

The rat hippocampal formation (HF), parahippocampal region (PHR), and retrosplenial cortex (RSC) play critical roles in spatial processing. These regions are interconnected, and functionally dependent. The neuronal networks mediating this reciprocal dependency are largely unknown. Establishing the developmental timing of network formation will help to understand the emergence of this dependency. We questioned whether the long-range outputs from HF-PHR to RSC in Long Evans rats develop during the same time periods as previously reported for the intrinsic HF-PHR connectivity and the projections from RSC to HF-PHR. The results of a series of retrograde and anterograde tracing experiments in rats of different postnatal ages show that the postnatal projections from HF-PHR to RSC display low densities around birth, but develop during the first postnatal week, reaching adult-like densities around the time of eye-opening. Developing projections display a topographical organization similar to adult projections. We conclude that the long-range projections from HF-PHR to RSC develop in parallel with the intrinsic circuitry of HF-PHR and the projections of RSC to HF-PHR.

The Role of Hierarchical Dynamical Functions in Coding for Episodic Memory and Cognition

Behavioral research in human verbal memory function led to the initial definition of episodic memory and semantic memory. A complete model of the neural mechanisms of episodic memory must include the capacity to encode and mentally reconstruct everything that humans can recall from their experience. This article proposes new model features necessary to address the complexity of episodic memory encoding and recall in the context of broader cognition and the functional properties of neurons that could contribute to this broader scope of memory. Many episodic memory models represent individual snapshots of the world with a sequence of vectors, but a full model must represent complex functions encoding and retrieving the relations between multiple stimulus features across space and time on multiple hierarchical scales. Episodic memory involves not only the space and time of an agent experiencing events within an episode but also features shown in neurophysiological data such as coding of speed, direction, boundaries, and objects. Episodic memory includes not only a spatio-temporal trajectory of a single agent but also segments of spatio-temporal trajectories for other agents and objects encountered in the environment consistent with data on encoding the position and angle of sensory features of objects and boundaries. We will discuss potential interactions of episodic memory circuits in the hippocampus and entorhinal cortex with distributed neocortical circuits that must represent all features of human cognition.

The Embodied Brain of SOVEREIGN2: From Space-Variant Conscious Percepts During Visual Search and Navigation to Learning Invariant Object Categories and Cognitive-Emotional Plans for Acquiring Valued Goals

This article develops a model of how reactive and planned behaviors interact in real time. Controllers for both animals and animats need reactive mechanisms for exploration, and learned plans to efficiently reach goal objects once an environment becomes familiar. The SOVEREIGN model embodied these capabilities, and was tested in a 3D virtual reality environment. Neural models have characterized important adaptive and intelligent processes that were not included in SOVEREIGN. A major research program is summarized herein by which to consistently incorporate them into an enhanced model called SOVEREIGN2. Key new perceptual, cognitive, cognitive-emotional, and navigational processes require feedback networks which regulate resonant brain states that support conscious experiences of seeing, feeling, and knowing. Also included are computationally complementary processes of the mammalian neocortical What and Where processing streams, and homologous mechanisms for spatial navigation and arm movement control. These include: Unpredictably moving targets are tracked using coordinated smooth pursuit and saccadic movements. Estimates of target and present position are computed in the Where stream, and can activate approach movements. Motion cues can elicit orienting movements to bring new targets into view. Cumulative movement estimates are derived from visual and vestibular cues. Arbitrary navigational routes are incrementally learned as a labeled graph of angles turned and distances traveled between turns. Noisy and incomplete visual sensor data are transformed into representations of visual form and motion. Invariant recognition categories are learned in the What stream. Sequences of invariant object categories are stored in a cognitive working memory, whereas sequences of movement positions and directions are stored in a spatial working memory. Stored sequences trigger learning of cognitive and spatial/motor sequence categories or plans, also called list chunks, which control planned decisions and movements toward valued goal objects. Predictively successful list chunk combinations are selectively enhanced or suppressed via reinforcement learning and incentive motivational learning. Expected vs. unexpected event disconfirmations regulate these enhancement and suppressive processes. Adaptively timed learning enables attention and action to match task constraints. Social cognitive joint attention enables imitation learning of skills by learners who observe teachers from different spatial vantage points.

A cognitive map in a poison frog

A fundamental question in cognitive science is whether an animal can use a cognitive map. A cognitive map is a mental representation of the external world, and knowledge of one's place in this world, that can be used to determine efficient routes to any destination. Many birds and mammals are known to employ a cognitive map, but whether other vertebrates can create a cognitive map is less clear. Amphibians are capable of using beacons, gradients and landmarks when navigating, and many are proficient at homing. Yet only one prior study directly tested for a cognitive map in amphibians, with negative results. Poison frogs exhibit unusually complex social and spatial behaviors and are capable of long-distance homing after displacement, suggesting that they may be using complex spatial navigation strategies in nature. Here, we trained the poison frog Dendrobates auratus in a modified Morris water maze that was designed to suppress thigmotaxis to the maze wall, promoting exploration of the arena. In our moat maze, the poison frogs were able to use a configuration of visual cues to find the hidden platform. Moreover, we demonstrate that they chose direct paths to the goal from multiple random initial positions, a hallmark of a cognitive map. The performance of the frogs in the maze was qualitatively similar to that of rodents, suggesting that the potential to evolve a cognitive map is an evolutionarily conserved trait of vertebrates.

Maternal high-fat diet results in cognitive impairment and hippocampal gene expression changes in rat offspring

Consumption of a high-fat diet has long been known to increase risk for obesity, diabetes, and the metabolic syndrome. Further evidence strongly suggests that these same metabolic disorders are associated with an increased risk of cognitive impairment later in life. Now faced with an expanding global burden of obesity and increasing prevalence of dementia due to an aging population, understanding the effects of high-fat diet consumption on cognition is of increasingly critical importance. Further, the developmental origins of many adult onset neuropsychiatric disorders have become increasingly clear, indicating a need to investigate effects of various risk factors, including diet, across the lifespan. Here, we use a rat model to assess the effects of maternal diet during pregnancy and lactation on cognition and hippocampal gene expression of offspring. Behaviorally, adult male offspring of high-fat fed dams had impaired object recognition memory and impaired spatial memory compared to offspring of chow-fed dams. In hippocampus, we found decreased expression of Insr, Lepr, and Slc2a1 (GLUT1) among offspring of high-fat fed dams at postnatal day 21. The decreased expression of Insr and Lepr persisted at postnatal day 150. Together, these data provide additional evidence to suggest that maternal exposure to high-fat diet during pregnancy and lactation can have lasting effects on the brain, behavior, and cognition on adult offspring.

Grid-like Neural Representations Support Olfactory Navigation of a Two-Dimensional Odor Space

Searching for food, friends, and mates often begins with an airborne scent. Importantly, odor concentration rises with physical proximity to an odorous source, suggesting a framework for orienting within olfactory landscapes to optimize behavior. Here, we created a two-dimensional odor space composed purely of odor stimuli to model how a navigator encounters smells in a natural environment. We show that human subjects can learn to navigate in olfactory space and form predictions of to-be-encountered smells. During navigation, fMRI responses in entorhinal cortex and ventromedial prefrontal cortex take the form of grid-like representations with hexagonal periodicity and entorhinal grid strength scaled with behavioral performance across subjects. The identification of olfactory grid-like codes with 6-fold symmetry highlights a unique neural mechanism by which odor information can be assembled into spatially navigable cognitive maps, optimizing orientation, and path finding toward an odor source.

The ontogeny of memory persistence and specificity

Interest in the ontogeny of memory blossomed in the twentieth century following the initial observations that memories from infancy and early childhood are rapidly forgotten. The intense exploration of infantile amnesia in subsequent years has led to a thorough characterization of its psychological determinants, although the neurobiology of memory persistence has long remained elusive. By contrast, other phenomena in the ontogeny of memory like infantile generalization have received relatively less attention. Despite strong evidence for reduced memory specificity during ontogeny, infantile generalization is poorly understood from psychological and neurobiological perspectives. In this review, we examine the ontogeny of memory persistence and specificity in humans and nonhuman animals at the levels of behavior and the brain. To this end, we first describe the behavioral phenotypes associated with each phenomenon. Looking into the brain, we then discuss neurobiological mechanisms in the hippocampus that contribute to the ontogeny of memory. Hippocampal neurogenesis and critical period mechanisms have recently been discovered to underlie amnesia during early development, and at the same time, we speculate that similar processes may contribute to the early bias towards memory generalization.

Age-Dependent Electrocorticogram Dynamics and Epileptogenic Responsiveness in Rats Subjected to Prenatal Hypoxia

Using electrocorticogram (ECoG) analysis, we compared age-related dynamics of general neuronal activity and convulsive epileptiform responsiveness induced by intracortical microinjections of 4-aminopyridine (4-AP) in control Wistar rats and those subjected to prenatal hypoxia (Hx; E14; 7% O2, 3 h). The studies were carried out in three age periods roughly corresponding to childhood (P20-27), adolescence (P30-45), and adulthood (P90-120). It was found that in the process of postnatal development of the control rats, the peak of the ECoG power spectrum density (PSD) of the theta rhythm during wakefulness shifted from the low to the higher frequency, while in the Hx rats this shift had the opposite direction. Moreover, the Hx rats had different frequency characteristics of the ECoG PSD and longer episodes of spike-and-wave discharges caused by 4-AP injections compared to the controls. The total ECoG PSD of slow-wave sleep (1-5 Hz) was also dramatically decreased in the process of development of the Hx rats. Such alterations in PSD could be explained by the changes in balance of the excitation and inhibition processes in the cortical networks. Analyzing protein levels of neurotransmitter transporters in the brain structures of the Hx rats, we found that the content of the glutamate transporter EAAT1 was higher in the parietal cortex in all age groups of Hx rats while in the hippocampus it decreased during postnatal development compared to controls. Furthermore, the content of the vesicular acetylcholine transporter in the parietal cortex, and of the inhibitory GABA transporter 1 in the hippocampus, was also affected by prenatal Hx. These data suggest that prenatal Hx results in a shift in the excitatory and inhibitory balance in the rat cortex towards excitation, making the rat's brain more vulnerable to the effects of proconvulsant drugs and predisposing animals to epileptogenesis during postnatal life.

GABAA Receptor Subunit α3 in Network Dynamics in the Medial Entorhinal Cortex

Layer II of the medial entorhinal cortex (MEC LII) contains the largest number of spatially modulated grid cells and is one of the first regions in the brain to express Alzheimer's disease (AD)-related pathology. The most common principal cell type in MEC LII, reelin-expressing stellate cells, are grid cell candidates. Recently we found evidence that γ-aminobutyric acid (GABA)_A receptor subunits show a specific distribution in MEC LII, in which GABA_A α3 is selectively associated with reelin-positive neurons, with limited association with the other principal cell type, calbindin (CB)-positive pyramidal neurons. Furthermore, the expression of α3 subunit decreases in mice between P15 and P25, which coincides with the emergence of stable grid cell activity. It has been shown that the α3 subunit undergoes specific developmental changes and that it may exert pro-inflammatory actions if improperly regulated. In this review article, we evaluate the changing kinetics of α3-GABA_A receptors (GABA_ARs). during development in relation to α3-subunit expression pattern in MEC LII and conclude that α3 could be closely related to the stabilization of grid cell activity and theta oscillations. We further conclude that dysregulated α3 may be a driving factor in early AD pathology.

Memory: Sequences Take Time

Our memories are stored as sequences of events and places. New research suggests that this temporal organization of information is absent in young animals but emerges, in parallel with memory itself, across development.

Coordinated Emergence of Hippocampal Replay and Theta Sequences during Post-natal Development

Hippocampal place cells encode an animal’s current position in space during exploration [1]. During sleep, hippocampal network activity recapitulates patterns observed during recent experience: place cells with overlapping spatial fields show a greater tendency to co-fire (“reactivation”) [2], and temporally ordered and compressed sequences of place cell firing observed during wakefulness are reinstated (“replay”) [3, 4, 5]. Reactivation and replay may underlie memory consolidation [6, 7, 8, 9, 10]. Compressed sequences of place cell firing also occur during exploration: during each cycle of the theta oscillation, the set of active place cells shifts from those signaling positions behind to those signaling positions ahead of an animal’s current location [11, 12]. These “theta sequences” have been linked to spatial planning [13]. Here, we demonstrate that, before weaning (post-natal day [P]21), offline place cell activity associated with sharp-wave ripples (SWRs) reflects predominantly stationary locations in recently visited environments. By contrast, sequential place cell firing, describing extended trajectories through space during exploration (theta sequences) and subsequent rest (replay), emerge gradually after weaning in a coordinated fashion, possibly due to a progressive decrease in the threshold for experience-driven plasticity. Hippocampus-dependent learning and memory emerge late in altricial mammals [14, 15, 16, 17], appearing around weaning in rats and slowly maturing thereafter [14, 15]. In contrast, spatially localized firing is observed 1 week earlier (with reduced spatial tuning and stability) [18, 19, 20, 21]. By examining the development of hippocampal reactivation, replay, and theta sequences, we show that the coordinated maturation of offline consolidation and online sequence generation parallels the late emergence of hippocampal memory in the rat.

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Hippocampal activity encoding single places is reactivated during sleep in young rats

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The threshold for plasticity-driven reactivation is higher during early development

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Sequential firing linking contiguous places emerges gradually during development

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Maturation of online and offline sequential activity and memory are coordinated

Effects of self-locomotion on the activity of place cells in the hippocampus of a freely behaving monkey

The activity of hippocampal cell assemblies is considered to function as the neural substrate for a cognitive map in various animal species. The firing rate of hippocampal place cells increases when an individual animal reaches a specific location in an environment. Although cumulative views on place cells have been revealed by studies using rodents under free-behavior conditions, few studies have addressed the spatial representation provided by hippocampal neurons in primates. Moreover, although previous work in rats has demonstrated the importance of locomotion velocity and direction in the spatially selective discharge of hippocampal neurons, it remains unknown whether a corresponding phenomenon exists in the primate hippocampus. In the present study, we recorded the activity and investigated the spatial representation of the hippocampal neurons in a freely behaving monkey performing a shuttle-movement task. We observed increased activity in a subset of hippocampal neurons (place cells) when the monkey crossed a particular location. Many of the monkey place cells exhibited sensitivity to locomotion velocity rather than to locomotion direction. These results suggest the existence of primate hippocampal place cells comparable to those in rodents, with the exception that, in primates, velocity information has a stronger impact on place cell activity than directional information.

Differential influences of environment and self-motion on place and grid cell firing

Place and grid cells in the hippocampal formation provide foundational representations of environmental location, and potentially of locations within conceptual spaces. Some accounts predict that environmental sensory information and self-motion are encoded in complementary representations, while other models suggest that both features combine to produce a single coherent representation. Here, we use virtual reality to dissociate visual environmental from physical motion inputs, while recording place and grid cells in mice navigating virtual open arenas. Place cell firing patterns predominantly reflect visual inputs, while grid cell activity reflects a greater influence of physical motion. Thus, even when recorded simultaneously, place and grid cell firing patterns differentially reflect environmental information (or 'states') and physical self-motion (or 'transitions'), and need not be mutually coherent.

Merging information in the entorhinal cortex: what can we learn from robotics experiments and modeling?

Place recognition is a complex process involving idiothetic and allothetic information. In mammals, evidence suggests that visual information stemming from the temporal and parietal cortical areas (‘what’ and ‘where’ information) is merged at the level of the entorhinal cortex (EC) to build a compact code of a place. Local views extracted from specific feature points can provide information important for view cells (in primates) and place cells (in rodents) even when the environment changes dramatically. Robotics experiments using conjunctive cells merging ‘what’ and ‘where’ information related to different local views show their important role for obtaining place cells with strong generalization capabilities. This convergence of information may also explain the formation of grid cells in the medial EC if we suppose that: (1) path integration information is computed outside the EC, (2) this information is compressed at the level of the EC owing to projection (which follows a modulo principle) of cortical activities associated with discretized vector fields representing angles and/or path integration, and (3) conjunctive cells merge the projections of different modalities to build grid cell activities. Applying modulo projection to visual information allows an interesting compression of information and could explain more recent results on grid cells related to visual exploration. In conclusion, the EC could be dedicated to the build-up of a robust yet compact code of cortical activity whereas the hippocampus proper recognizes these complex codes and learns to predict the transition from one state to another.

Navigation and the developing brain

As babies rapidly acquire motor skills that give them increasingly independent and wide-ranging access to the environment over the first two years of human life, they decrease their reliance on habit systems for spatial localization, switching to their emerging inertial navigation system and to allocentric frameworks. Initial place learning is evident towards the end of the period. From 3 to 10 years, children calibrate their ability to encode various sources of spatial information (inertial information, geometric cues, beacons, proximal landmarks and distal landmarks) and begin to combine cues, both within and across systems. Geometric cues are important, but do not constitute an innate and encapsulated module. In addition, from 3 to 10 years, children build the capacity to think about frames of reference different from their current one (i.e. to perform perspective taking). By around 12 years, we see adult-level performance and adult patterns of individual differences on cognitive mapping tasks requiring the integration of vista views of space into environmental space. These lines of development are continuous rather than stage-like. Spatial development builds on important beginnings in the neural systems of newborns, but changes in experience-expectant ways with motor development, action in the world and success–failure feedback. Human systems for integrating and manipulating spatial information also benefit from symbolic capacities and technological inventions.

A local measure of symmetry and orientation for individual spikes of grid cells

Grid cells have attracted broad attention because of their highly symmetric hexagonal firing patterns. Recently, research has shifted its focus from the global symmetry of grid cell activity to local distortions both in space and time, such as drifts in orientation, local defects of the hexagonal symmetry, and the decay and reappearance of grid patterns after changes in lighting condition. Here, we introduce a method that allows to visualize and quantify such local distortions, by assigning both a local grid score and a local orientation to each individual spike of a neuronal recording. The score is inspired by a standard measure from crystallography, which has been introduced to quantify local order in crystals. By averaging over spikes recorded within arbitrary regions or time periods, we can quantify local variations in symmetry and orientation of firing patterns in both space and time.

How the Internally Organized Direction Sense Is Used to Navigate

Head-direction cells preferentially discharge when the head points in a particular azimuthal direction, are hypothesized to collectively function as a single neural system for a unitary direction sense, and are believed to be essential for navigating extra-personal space by functioning like a compass. We tested these ideas by recording medial entorhinal cortex (MEC) head-direction cells while rats navigated on a familiar, continuously rotating disk that dissociates the environment into two spatial frames: one stationary and one rotating. Head-direction cells degraded directional tuning referenced to either of the externally referenced spatial frames, but firing rates, sub-second cell-pair action potential discharge relationships, and internally referenced directional tuning were preserved. MEC head-direction cell ensemble discharge collectively generates a subjective, internally referenced unitary representation of direction that, unlike a compass, is inconsistently registered to external landmarks during navigation. These findings indicate that MEC-based directional information is subjectively anchored, potentially providing for navigation without a stable externally anchored direction sense.

Nonoscillatory Phase Coding and Synchronization in the Bat Hippocampal Formation

Hippocampal theta oscillations were proposed to be important for multiple functions, including memory and temporal coding of position. However, previous findings from bats have questioned these proposals by reporting absence of theta rhythmicity in bat hippocampal formation. Does this mean that temporal coding is unique to rodent hippocampus and does not generalize to other species? Here, we report that, surprisingly, bat hippocampal neurons do exhibit temporal coding similar to rodents, albeit without any continuous oscillations at the 1-20 Hz range. Bat neurons exhibited very strong locking to the non-rhythmic fluctuations of the field potential, such that neurons were synchronized together despite the absence of oscillations. Further, some neurons exhibited "phase precession" and phase coding of the bat's position-with spike phases shifting earlier as the animal moved through the place field. This demonstrates an unexpected type of neural coding in the mammalian brain-nonoscillatory phase coding-and highlights the importance of synchrony and temporal coding for hippocampal function across species.

Functional properties of stellate cells in medial entorhinal cortex layer II

Layer II of the medial entorhinal cortex (MEC) contains two principal cell types: pyramidal cells and stellate cells. Accumulating evidence suggests that these two cell types have distinct molecular profiles, physiological properties, and connectivity. The observations hint at a fundamental functional difference between the two cell populations but conclusions have been mixed. Here, we used a tTA-based transgenic mouse line to drive expression of ArchT, an optogenetic silencer, specifically in stellate cells. We were able to optogenetically identify stellate cells and characterize their firing properties in freely moving mice. The stellate cell population included cells from a range of functional cell classes. Roughly one in four of the tagged cells were grid cells, suggesting that stellate cells contribute not only to path-integration-based representation of self-location but also have other functions. The data support observations suggesting that grid cells are not the sole determinant of place cell firing.

Hexagonal Grid Fields Optimally Encode Transitions in Spatiotemporal Sequences

Grid cells of the rodent entorhinal cortex are essential for spatial navigation. Although their function is commonly believed to be either path integration or localization, the origin or purpose of their hexagonal firing fields remains disputed. Here they are proposed to arise as an optimal encoding of transitions in sequences. First, storage requirements for transitions in general episodic sequences are examined using propositional logic and graph theory. Subsequently, transitions in complete metric spaces are considered under the assumption of an ideal sampling of an input space. It is shown that memory capacity of neurons that have to encode multiple feasible spatial transitions is maximized by a hexagonal pattern. Grid cells are proposed to encode spatial transitions in spatiotemporal sequences, with the entorhinal-hippocampal loop forming a multitransition system.

Generative Predictive Codes by Multiplexed Hippocampal Neuronal Tuplets

Rapid internal representations are continuously formed based on single experiential episodes in space and time, but the neuronal ensemble mechanisms enabling rapid encoding without constraining the capacity for multiple distinct representations are unknown. We developed a probabilistic statistical model of hippocampal spontaneous sequential activity and revealed existence of an internal model of generative predictive codes for the regularities of multiple future novel spatial sequences. During navigation, the inferred difference between external stimuli and the internal model was encoded by emergence of intrinsic-unlikely, novel functional connections, which updated the model by preferentially potentiating post-experience. This internal model and these predictive codes depended on neuronal organization into inferred modules of short, high-repeat sequential neuronal "tuplets" operating as "neuro-codons." We propose that flexible multiplexing of neuronal tuplets into repertoires of extended sequences vastly expands the capacity of hippocampal predictive codes, which could initiate top-down hierarchical cortical loops for spatial and mental navigation and rapid learning.

Principles governing the integration of landmark and self-motion cues in entorhinal cortical codes for navigation

To guide navigation, the nervous system integrates multisensory self-motion and landmark information. We dissected how these inputs generate spatial representations by recording entorhinal grid, border and speed cells in mice navigating virtual environments. Manipulating the gain between the animal's locomotion and the visual scene revealed that border cells responded to landmark cues while grid and speed cells responded to combinations of locomotion, optic flow and landmark cues in a context-dependent manner, with optic flow becoming more influential when it was faster than expected. A network model explained these results by revealing a phase transition between two regimes in which grid cells remain coherent with or break away from the landmark reference frame. Moreover, during path-integration-based navigation, mice estimated their position following principles predicted by our recordings. Together, these results provide a theoretical framework for understanding how landmark and self-motion cues combine during navigation to generate spatial representations and guide behavior.

Development of Parvalbumin-Expressing Basket Terminals in Layer II of the Rat Medial Entorhinal Cortex

Grid cells in layer II of the medial entorhinal cortex (MEC LII) generate multiple regular firing fields in response to the position and speed of an individual within the environment. They exhibit a protracted postnatal development and, in the adult, show activity differences along the dorsoventral axis (DVA). Evidence suggests parvalbumin-positive (PV⁺) interneurons, most of which are perisomatic-targeting cells, play a crucial role in generation of the hexagonal grid cell activity pattern. We therefore hypothesized that the development and organization of PV⁺ perisomatic terminals in MEC LII reflect the postnatal emergence of the hexagonal firing pattern and dorsoventral differences seen in grid cell activity. We used immuno-electron microscopy to examine the development of PV⁺ perisomatic terminals and their target somata within dorsal and ventral MEC LII in rats of postnatal day (P)10, P15, and P30. We demonstrate that in dorsal and ventral MEC LII, the cross-sectional area of somata and number and density of perisomatic PV⁺ terminals increase between P10 and P15. A simultaneous decrease was observed in cross-sectional area of PV⁺ terminals. Between P15 and P30, both MEC regions showed an increase in PV⁺ terminal size and percentage of PV⁺ terminals containing mitochondria, which may enable grid cell activity to emerge and stabilize. We also report that dorsal somata are larger and apposed by more PV⁺ terminals than ventral somata at all stages, suggesting a protracted maturation in the ventral portion and a possible gradient in soma size and PV⁺ basket innervation along the DVA in the adult.

Spatiotemporal Distribution of GABAA Receptor Subunits Within Layer II of Mouse Medial Entorhinal Cortex: Implications for Grid Cell Excitability

GABAergic parvalbumin-expressing (PV+) interneurons provide powerful inhibitory modulation of grid cells in layer II of the medial entorhinal cortex (MEC LII). However, the molecular machinery through which PV+ cells regulate grid cell activity is poorly defined. PV+ interneurons impart inhibitory modulation primarily via GABA-A receptors (GABA_ARs). GABA_ARs are pentameric ion channels assembled from a repertoire of 19 subunits. Multiple subunit combinations result in a variety of receptor subtypes mediating functionally diverse postsynaptic inhibitory currents. Whilst the broad expression patterns of GABA_AR subunits within the EC have been reported, those expressed by individual MEC LII cell types, in particular grid cells candidates, stellate and pyramidal cells, are less well described. Stellate and pyramidal cells are distinguished by their selective expression of reelin (RE+) and calbindin (CB+) respectively. Thus, the overall aim of this study was to provide a high resolution analysis of the major (α and γ) GABA_AR subunits expressed in proximity to somato-dendritic PV+ boutons, on RE+ and CB+ cells, using immunohistochemistry, confocal microscopy and quantitative RT-PCR (qPCR). Clusters immunoreactive for the α1 and γ2 subunits decorated the somatic membranes of both RE+ and CB+ cells and were predominantly located in apposition to clusters immunoreactive for PV and vesicular GABA transporter (VGAT), suggesting expression in GABAergic synapses innervated by PV interneurons. Although intense α2 subunit-immunopositive clusters were evident in hippocampal fields located in close proximity to the EC, no specific signal was detected in MEC LII RE+ and CB+ profiles. Immunoreactivity for the α3 subunit was detected in all RE+ somata. In contrast, only a sub-population of CB+ cells was α3 immunopositive. These included CB-α3 cells which were both PV+ and PV-. Furthermore, α3 subunit mRNA and immunofluorescence decreased significantly between P 15 and P 25, a period implicated in the functional maturation of grid cells. Finally, α5 subunit immunoreactivity was detectable only on CB+ cells, not on RE+ cells. The present data demonstrates that physiologically distinct GABA_AR subtypes are selectively expressed by CB+ and RE+ cells. This suggests that PV+ interneurons could utilize distinct postsynaptic signaling mechanisms to regulate the excitability of these different, candidate grid cell sub-populations.

Cellular components and circuitry of the presubiculum and its functional role in the head direction system

Orientation in space is a fundamental cognitive process relying on brain-wide neuronal circuits. Many neurons in the presubiculum in the parahippocampal region encode head direction and each head direction cell selectively discharges when the animal faces a specific direction. Here, we attempt to link the current knowledge of afferent and efferent connectivity of the presubiculum to the processing of the head direction signal. We describe the cytoarchitecture of the presubicular six-layered cortex and the morphological and electrophysiological intrinsic properties of principal neurons and interneurons. While the presubicular head direction signal depends on synaptic input from thalamus, the intra- and interlaminar information flow in the microcircuit of the presubiculum may contribute to refine directional tuning. The interaction of a specific interneuron type, the Martinotti cells, with the excitatory pyramidal cells may maintain the head direction signal in the presubiculum with attractor-like properties.

Linear Self-Motion Cues Support the Spatial Distribution and Stability of Hippocampal Place Cells

The vestibular system provides a crucial component of place-cell and head-direction cell activity [1-7]. Otolith signals are necessary for head-direction signal stability and associated behavior [8, 9], and the head-direction signal's contribution to parahippocampal spatial representations [10-14] suggests that place cells may also require otolithic information. Here, we demonstrate that self-movement information from the otolith organs is necessary for the development of stable place fields within and across sessions. Place cells in otoconia-deficient tilted mice showed reduced spatial coherence and formed place fields that were located closer to environmental boundaries, relative to those of control mice. These differences reveal an important otolithic contribution to place-cell functioning and provide insight into the cognitive deficits associated with otolith dysfunction.

A Barnes maze for juvenile rats delineates the emergence of spatial navigation ability

The neural bases of cognition may be greatly informed by relating temporally defined developmental changes in behavior with concurrent alterations in neural function. A robust improvement in performance in spatial learning and memory tasks occurs at 3 wk of age in rodents. We reported that the developmental increase of spontaneous alternation in a Y-maze was related to changes in temporal dynamics of fast glutamatergic synaptic transmission in the hippocampus. We also showed that, during allothetic behaviors in the Y-maze, network oscillation power increased at frequency bands known to support spatial learning and memory in adults. However, there are no discrete learning and memory phases during free exploration in the Y-maze. Thus, we adapted the Barnes maze for use with juvenile rats. Following a single platform exposure in dim light on the day before training (to encourage exploration), animals were trained on the subsequent 2 d in bright light to find a hidden escape box and then underwent a memory test 24 h later. During escape training, the older animals learned the task in 1 d, while the younger animals required 2 d and did not reach the performance of older animals. Long-term memory performance was also superior in the older animals. Thus, we have validated the use of the Barnes maze for this developmental period and established a timeline for the ontogeny of spatial navigation ability in this maze around 3 wk of age. Subsequent work will pair in vivo recording of hippocampal oscillations and single units with this task to help identify how hippocampal maturation might relate to performance improvements.

Neural mechanisms of navigation involving interactions of cortical and subcortical structures

Animals must perform spatial navigation for a range of different behaviors, including selection of trajectories toward goal locations and foraging for food sources. To serve this function, a number of different brain regions play a role in coding different dimensions of sensory input important for spatial behavior, including the entorhinal cortex, the retrosplenial cortex, the hippocampus, and the medial septum. This article will review data concerning the coding of the spatial aspects of animal behavior, including location of the animal within an environment, the speed of movement, the trajectory of movement, the direction of the head in the environment, and the position of barriers and objects both relative to the animal's head direction (egocentric) and relative to the layout of the environment (allocentric). The mechanisms for coding these important spatial representations are not yet fully understood but could involve mechanisms including integration of self-motion information or coding of location based on the angle of sensory features in the environment. We will review available data and theories about the mechanisms for coding of spatial representations. The computation of different aspects of spatial representation from available sensory input requires complex cortical processing mechanisms for transformation from egocentric to allocentric coordinates that will only be understood through a combination of neurophysiological studies and computational modeling.

Grid scale drives the scale and long-term stability of place maps

Medial entorhinal cortex (MEC) grid cells fire at regular spatial intervals and project to the hippocampus, where place cells are active in spatially restricted locations. One feature of the grid population is the increase in grid spatial scale along the dorsal-ventral MEC axis. However, the difficulty in perturbing grid scale without impacting the properties of other functionally defined MEC cell types has obscured how grid scale influences hippocampal coding and spatial memory. Here we use a targeted viral approach to knock out HCN1 channels selectively in MEC, causing the grid scale to expand while leaving other MEC spatial and velocity signals intact. Grid scale expansion resulted in place scale expansion in fields located far from environmental boundaries, reduced long-term place field stability and impaired spatial learning. These observations, combined with simulations of a grid-to-place cell model and position decoding of place cells, illuminate how grid scale impacts place coding and spatial memory.

Self-Organized Attractor Dynamics in the Developing Head Direction Circuit

Head direction (HD) cells are neurons found in an extended cortical and subcortical network that signal the orientation of an animal’s head relative to its environment [1, 2, 3]. They are a fundamental component of the wider circuit of spatially responsive hippocampal formation neurons that make up the neural cognitive map of space [4]. During post-natal development, HD cells are the first among spatially modulated neurons in the hippocampal circuit to exhibit mature firing properties [5, 6], but before eye opening, HD cell responses in rat pups have low directional information and are directionally unstable [7, 8]. Using Bayesian decoding of HD cell ensemble activity recorded in the anterodorsal thalamic nucleus (ADN), we characterize this instability and identify its source: under-signaling of angular head velocity, which incompletely shifts the directional signal in proportion to head turns. We find evidence that geometric cues (the corners of a square environment) can be used to mitigate this under-signaling and, thereby, stabilize the directional signal even before eye opening. Crucially, even when directional firing cannot be stabilized, ensembles of unstable HD cells show short-timescale (1–10 s) temporal and spatial couplings consistent with an adult-like HD network. The HD network is widely modeled as a continuous attractor whose output is one coherent activity peak, updated during movement by angular head velocity signals and anchored by landmark cues [9, 10, 11]. Our findings present strong evidence for this model, and they demonstrate that the required network circuitry is in place and functional early during development, independent of reference to landmark information.

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Non-visual cues can anchor head direction (HD) cells in pre-eye-opening rat pups

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Internal network dynamics are preserved even when the HD representation is unstable

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Angular velocity under-signaling drives instability, which is mitigated by corners

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Circuit architecture develops even before any landmarks can stabilize HD responses

Entorhinal fast-spiking speed cells project to the hippocampus

Our location in space is represented by a spectrum of space and direction-responsive cell types in medial entorhinal cortex and hippocampus. Many cells in these areas respond also to running speed. The presence of local speed-tuned cells is considered a requirement for position to be encoded in a self-motion–dependent manner; however, whether and how speed-responsive cells in entorhinal cortex and hippocampus are functionally connected have not been determined. The present study shows that a large proportion of entorhinal speed cells are fast-spiking with properties similar to those of GABAergic interneurons and that outputs from a subset of these cells, particularly the parvalbumin-expressing subset, form a component of the medial entorhinal input to the hippocampus.

The mammalian positioning system contains a variety of functionally specialized cells in the medial entorhinal cortex (MEC) and the hippocampus. In order for cells in these systems to dynamically update representations in a way that reflects ongoing movement in the environment, they must be able to read out the current speed of the animal. Speed is encoded by speed-responsive cells in both MEC and hippocampus, but the relationship between the two populations has not been determined. We show here that many entorhinal speed cells are fast-spiking putative GABAergic neurons. Using retrograde viral labeling from the hippocampus, we find that a subset of these fast-spiking MEC speed cells project directly to hippocampal areas. This projection contains parvalbumin (PV) but not somatostatin (SOM)-immunopositive cells. The data point to PV-expressing GABAergic projection neurons in MEC as a source for widespread speed modulation and temporal synchronization in entorhinal–hippocampal circuits for place representation.

Path integration in place cells of developing rats

The mammalian brain has neurons that specifically represent the animal’s location in the environment. Place cells in the hippocampus encode position, whereas grid cells in the medial entorhinal cortex, one synapse away, also express information about the distance and direction that the animal is moving. In this study, we show that, in 2.5–3-wk-old rat pups, place cells have firing fields whose positions depend on distance travelled, despite the immature state of grid fields at this age. The results suggest that place fields can be generated from self-motion–induced distance information in the absence of fully matured grid patterns.

Place cells in the hippocampus and grid cells in the medial entorhinal cortex rely on self-motion information and path integration for spatially confined firing. Place cells can be observed in young rats as soon as they leave their nest at around 2.5 wk of postnatal life. In contrast, the regularly spaced firing of grid cells develops only after weaning, during the fourth week. In the present study, we sought to determine whether place cells are able to integrate self-motion information before maturation of the grid-cell system. Place cells were recorded on a 200-cm linear track while preweaning, postweaning, and adult rats ran on successive trials from a start wall to a box at the end of a linear track. The position of the start wall was altered in the middle of the trial sequence. When recordings were made in complete darkness, place cells maintained fields at a fixed distance from the start wall regardless of the age of the animal. When lights were on, place fields were determined primarily by external landmarks, except at the very beginning of the track. This shift was observed in both young and adult animals. The results suggest that preweaning rats are able to calculate distances based on information from self-motion before the grid-cell system has matured to its full extent.

Intelligent machines and human minds

The search for a deep, multileveled understanding of human intelligence is perhaps the grand challenge for 21st-century science, with broad implications for technology. The project of building machines that think like humans is central to meeting this challenge and critical to efforts to craft new technologies for human benefit.

Hippocampal Remapping and Its Entorhinal Origin

The activity of hippocampal cell ensembles is an accurate predictor of the position of an animal in its surrounding space. One key property of hippocampal cell ensembles is their ability to change in response to alterations in the surrounding environment, a phenomenon called remapping. In this review article, we present evidence for the distinct types of hippocampal remapping. The progressive divergence over time of cell ensembles active in different environments and the transition dynamics between pre-established maps are discussed. Finally, we review recent work demonstrating that hippocampal remapping can be triggered by neurons located in the entorhinal cortex.

3-D Maps and Compasses in the Brain

The world has a complex, three-dimensional (3-D) spatial structure, but until recently the neural representation of space was studied primarily in planar horizontal environments. Here we review the emerging literature on allocentric spatial representations in 3-D and discuss the relations between 3-D spatial perception and the underlying neural codes. We suggest that the statistics of movements through space determine the topology and the dimensionality of the neural representation, across species and different behavioral modes. We argue that hippocampal place-cell maps are metric in all three dimensions, and might be composed of 2-D and 3-D fragments that are stitched together into a global 3-D metric representation via the 3-D head-direction cells. Finally, we propose that the hippocampal formation might implement a neural analogue of a Kalman filter, a standard engineering algorithm used for 3-D navigation.

Learning place cells, grid cells and invariances with excitatory and inhibitory plasticity

Neurons in the hippocampus and adjacent brain areas show a large diversity in their tuning to location and head direction, and the underlying circuit mechanisms are not yet resolved. In particular, it is unclear why certain cell types are selective to one spatial variable, but invariant to another. For example, place cells are typically invariant to head direction. We propose that all observed spatial tuning patterns - in both their selectivity and their invariance - arise from the same mechanism: Excitatory and inhibitory synaptic plasticity driven by the spatial tuning statistics of synaptic inputs. Using simulations and a mathematical analysis, we show that combined excitatory and inhibitory plasticity can lead to localized, grid-like or invariant activity. Combinations of different input statistics along different spatial dimensions reproduce all major spatial tuning patterns observed in rodents. Our proposed model is robust to changes in parameters, develops patterns on behavioral timescales and makes distinctive experimental predictions.

Transformation of the head-direction signal into a spatial code

Animals integrate multiple sensory inputs to successfully navigate in their environments. Head direction (HD), boundary vector, grid and place cells in the entorhinal-hippocampal network form the brain’s navigational system that allows to identify the animal’s current location, but how the functions of these specialized neuron types are acquired remain to be understood. Here we report that activity of HD neurons is influenced by the ambulatory constraints imposed upon the animal by the boundaries of the explored environment, leading to spurious spatial information. However, in the post-subiculum, the main cortical stage of HD signal processing, HD neurons convey true spatial information in the form of border modulated activity through the integration of additional sensory modalities relative to egocentric position, unlike their driving thalamic inputs. These findings demonstrate how the combination of HD and egocentric information can be transduced into a spatial code.

A cognitive map of space must integrate allocentric cues such as head direction (HD) with various egocentric cues. Here the authors report that anterior thalamic (ADn) neurons encode a pure HD signal, while neurons in post-subiculum represent a conjunction of HD and egocentric cues such as body posture with respect to environment boundaries.

Collective Behavior of Place and Non-place Neurons in the Hippocampal Network

Discussions of the hippocampus often focus on place cells, but many neurons are not place cells in any given environment. Here we describe the collective activity in such mixed populations, treating place and non-place cells on the same footing. We start with optical imaging experiments on CA1 in mice as they run along a virtual linear track and use maximum entropy methods to approximate the distribution of patterns of activity in the population, matching the correlations between pairs of cells but otherwise assuming as little structure as possible. We find that these simple models accurately predict the activity of each neuron from the state of all the other neurons in the network, regardless of how well that neuron codes for position. Our results suggest that understanding the neural activity may require not only knowledge of the external variables modulating it but also of the internal network state.

Spatial representation in the hippocampal formation: a history

Since the first place cell was recorded and the cognitive-map theory was subsequently formulated, investigation of spatial representation in the hippocampal formation has evolved in stages. Early studies sought to verify the spatial nature of place cell activity and determine its sensory origin. A new epoch started with the discovery of head direction cells and the realization of the importance of angular and linear movement-integration in generating spatial maps. A third epoch began when investigators turned their attention to the entorhinal cortex, which led to the discovery of grid cells and border cells. This review will show how ideas about integration of self-motion cues have shaped our understanding of spatial representation in hippocampal-entorhinal systems from the 1970s until today. It is now possible to investigate how specialized cell types of these systems work together, and spatial mapping may become one of the first cognitive functions to be understood in mechanistic detail.

Cell types for our sense of location: where we are and where we are going

Technological advances in profiling cells along genetic, anatomical and physiological axes have fomented interest in identifying all neuronal cell types. This goal nears completion in specialized circuits such as the retina, while remaining more elusive in higher order cortical regions. We propose that this differential success of cell type identification may not simply reflect technological gaps in co-registering genetic, anatomical and physiological features in the cortex. Rather, we hypothesize it reflects evolutionarily driven differences in the computational principles governing specialized circuits versus more general-purpose learning machines. In this framework, we consider the question of cell types in medial entorhinal cortex (MEC), a region likely to be involved in memory and navigation. While MEC contains subsets of identifiable functionally defined cell types, recent work employing unbiased statistical methods and more diverse tasks reveals unsuspected heterogeneity and adaptivity in MEC firing patterns. This suggests MEC may operate more as a generalist circuit, obeying computational design principles resembling those governing other higher cortical regions.

A single-cell spiking model for the origin of grid-cell patterns

Spatial cognition in mammals is thought to rely on the activity of grid cells in the entorhinal cortex, yet the fundamental principles underlying the origin of grid-cell firing are still debated. Grid-like patterns could emerge via Hebbian learning and neuronal adaptation, but current computational models remained too abstract to allow direct confrontation with experimental data. Here, we propose a single-cell spiking model that generates grid firing fields via spike-rate adaptation and spike-timing dependent plasticity. Through rigorous mathematical analysis applicable in the linear limit, we quantitatively predict the requirements for grid-pattern formation, and we establish a direct link to classical pattern-forming systems of the Turing type. Our study lays the groundwork for biophysically-realistic models of grid-cell activity.

A Novel Mechanism for the Grid-to-Place Cell Transformation Revealed by Transgenic Depolarization of Medial Entorhinal Cortex Layer II

The spatial receptive fields of neurons in medial entorhinal cortex layer II (MECII) and in the hippocampus suggest general and environment-specific maps of space, respectively. However, the relationship between these receptive fields remains unclear. We reversibly manipulated the activity of MECII neurons via chemogenetic receptors and compared the changes in downstream hippocampal place cells to those of neurons in MEC. Depolarization of MECII impaired spatial memory and elicited drastic changes in CA1 place cells in a familiar environment, similar to those seen during remapping between distinct environments, while hyperpolarization did not. In contrast, both manipulations altered the firing rate of MEC neurons without changing their firing locations. Interestingly, only depolarization caused significant changes in the relative firing rates of individual grid fields, reconfiguring the spatial input from MEC. This suggests a novel mechanism of hippocampal remapping whereby rate changes in MEC neurons lead to locational changes of hippocampal place fields.

Theta sequences of grid cell populations can provide a movement-direction signal

It has been proposed that path integration in mammals is performed by the convergence of internally generated speed and directional inputs onto grid cells. Although this hypothesis has been supported by the discovery that head direction, speed, and grid cells are intermixed within entorhinal cortex and by the recent finding that head-direction inputs are necessary for grid firing, many details on how grid cells are generated have remained elusive. For example, analysis of recording data suggests that substituting head direction for movement direction accrues errors that preclude the formation of grid patterns. To address this discrepancy, we propose that the organization of grid networks makes it plausible that movement-direction signals are an output from grid cells and that temporally precise grid cell sequences provide a robust directional signal to other spatial and directional cell types.

Sensory system development influences the ontogeny of hippocampal associative coding and trace eyeblink conditioning

Until recently, it was believed that hippocampal development was the primary rate-limiting factor in the developmental emergence of hippocampal forms of learning, such as trace eyeblink conditioning (EBC). Indeed, hippocampal neuronal activity shows an age-related increase in both complexity and task responsiveness during trace EBC. However, recent work from our laboratory suggests that sensory system development may also play a role. Training with the earlier-developing somatosensory system results in an earlier emergence of trace EBC in rats, suggesting that the development of sensory input to the hippocampus may influence the development of trace EBC. The goal of the current study was to examine the activity of hippocampal CA1 pyramidal cells during acquisition of trace EBC with an early-developing somatosensory CS. Rat pups were trained with a vibration CS on postnatal days (P) 17-19, P21-23, and P24-26 while CA1 pyramidal cell activity was recorded. Results indicated that CA1 neurons show an age-related increase in responsiveness to trial events. Although the magnitude of neuronal responding showed age-related increases in activity, all three age groups demonstrated learning-related increases in firing rate magnitude and peaks in firing rate were evident both at CS onset and offset. These findings suggest that the ontogeny of trace eyeblink conditioning is related to both hippocampal and sensory system development.

Grid Cells Encode Local Positional Information

The brain has an extraordinary ability to create an internal spatial map of the external world [1]. This map-like representation of environmental surroundings is encoded through specific types of neurons, located within the hippocampus and entorhinal cortex, which exhibit spatially tuned firing patterns [2, 3]. In addition to encoding space, these neurons are believed to be related to contextual information and memory [4, 5, 6, 7]. One class of such cells is the grid cells, which are located within the entorhinal cortex, presubiculum, and parasubiculum [3, 8]. Grid cell firing forms a hexagonal array of firing fields, a pattern that is largely thought to reflect the operation of intrinsic self-motion-related computations [9, 10, 11, 12]. If this is the case, then fields should be relatively uniform in size, number of spikes, and peak firing rate. However, it has been suggested that this is not in fact the case [3, 13]. The possibility exists that local spatial information also influences grid cells, which—if true—would greatly change the way in which grid cells are thought to contribute to place coding. Accordingly, we asked how discriminable the individual fields of a given grid cell are by looking at the distribution of field firing rates and reproducibility of this distribution across trials. Grid fields were less uniform in intensity than expected, and the pattern of strong and weak fields was spatially stable and recurred across trials. The distribution remained unchanged even after arena rescaling, but not after remapping. This suggests that additional local information is being overlaid onto the global hexagonal pattern of grid cells.

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Individual grid cell fields exhibit large variability in firing rates

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The fields firing rate ratios tend to remain stable within and across sessions

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The fields' firing rate ratios are stable even during rescaling of the arena

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The firing profile of different fields is retained until remapping occurs