The Brain Compass: A Perspective on How Self-Motion Updates the Head Direction Cell Attractor

The mosaic structure of the mammalian cognitive map

The cognitive map, proposed by Tolman in the 1940s, is a hypothetical internal representation of space constructed by the brain to enable an animal to undertake flexible spatial behaviors such as navigation. The subsequent discovery of place cells in the hippocampus of rats suggested that such a map-like representation does exist, and also provided a tool with which to explore its properties. Single-neuron studies in rodents conducted in small singular spaces have suggested that the map is founded on a metric framework, preserving distances and directions in an abstract representational format. An open question is whether this metric structure pertains over extended, often complexly structured real-world space. The data reviewed here suggest that this is not the case. The emerging picture is that instead of being a single, unified construct, the map is a mosaic of fragments that are heterogeneous, variably metric, multiply scaled, and sometimes laid on top of each other. Important organizing factors within and between fragments include boundaries, context, compass direction, and gravity. The map functions not to provide a comprehensive and precise rendering of the environment but rather to support adaptive behavior, tailored to the species and situation.

The Suite for the Assessment of Low-Level cues on Orientation (SALLO): The psychophysics of spatial orientation in virtual reality

Spatial orientation is a complex ability that emerges from the interaction of several systems in a way that is still unclear. One of the reasons limiting the research on the topic is the lack of methodologies aimed at studying multimodal psychophysics in an ecological manner and with affordable settings. Virtual reality can provide a workaround to this impasse by using virtual stimuli rather than real ones. However, the available virtual reality development platforms are not meant for psychophysical testing; therefore, using them as such can be very difficult for newcomers, especially the ones new to coding. For this reason, we developed SALLO, the Suite for the Assessment of Low-Level cues on Orientation, which is a suite of utilities that simplifies assessing the psychophysics of multimodal spatial orientation in virtual reality. The tools in it cover all the fundamental steps to design a psychophysical experiment. Plus, dedicated tracks guide the users in extending the suite components to simplify developing new experiments. An experimental use-case used SALLO and virtual reality to show that the head posture affects both the egocentric and the allocentric mental representations of spatial orientation. Such a use-case demonstrated how SALLO and virtual reality can be used to accelerate hypothesis testing concerning the psychophysics of spatial orientation and, more broadly, how the community of researchers in the field may benefit from such a tool to carry out their investigations.

Vestibular perceptual testing from lab to clinic: a review

Not all dizziness presents as vertigo, suggesting other perceptual symptoms for individuals with vestibular disease. These non-specific perceptual complaints of dizziness have led to a recent resurgence in literature examining vestibular perceptual testing with the aim to enhance clinical diagnostics and therapeutics. Recent evidence supports incorporating rehabilitation methods to retrain vestibular perception. This review describes the current field of vestibular perceptual testing from scientific laboratory techniques that may not be clinic friendly to some low-tech options that may be more clinic friendly. Limitations are highlighted suggesting directions for additional research.

Elucidating the role of muscarinic acetylcholine receptor (mAChR) signaling in efferent mediated responses of vestibular afferents in mammals

The peripheral vestibular system detects head position and movement through activation of vestibular hair cells (HCs) in vestibular end organs. HCs transmit this information to the CNS by way of primary vestibular afferent neurons. The CNS, in turn, modulates HCs and afferents via the efferent vestibular system (EVS) through activation of cholinergic signaling mechanisms. In mice, we previously demonstrated that activation of muscarinic acetylcholine receptors (mAChRs), during EVS stimulation, gives rise to a slow excitation that takes seconds to peak and tens of seconds to decay back to baseline. This slow excitation is mimicked by muscarine and ablated by the non-selective mAChR blockers scopolamine, atropine, and glycopyrrolate. While five distinct mAChRs (M1-M5) exist, the subtype(s) driving EVS-mediated slow excitation remain unidentified and details on how these mAChRs alter vestibular function is not well understood. The objective of this study is to characterize which mAChR subtypes drive the EVS-mediated slow excitation, and how their activation impacts vestibular physiology and behavior. In C57Bl/6J mice, M3mAChR antagonists were more potent at blocking slow excitation than M1mAChR antagonists, while M2/M4 blockers were ineffective. While unchanged in M2/M4mAChR double KO mice, EVS-mediated slow excitation in M3 mAChR-KO animals were reduced or absent in irregular afferents but appeared unchanged in regular afferents. In agreement, vestibular sensory-evoked potentials (VsEP), known to be predominantly generated from irregular afferents, were significantly less enhanced by mAChR activation in M3mAChR-KO mice compared to controls. Finally, M3mAChR-KO mice display distinct behavioral phenotypes in open field activity, and thermal profiles, and balance beam and forced swim test. M3mAChRs mediate efferent-mediated slow excitation in irregular afferents, while M1mAChRs may drive the same process in regular afferents.

Circuits for self-motion estimation and walking control in Drosophila

The brain's evolution and operation are inextricably linked to animal movement, and critical functions, such as motor control, spatial perception, and navigation, rely on precise knowledge of body movement. Such internal estimates of self-motion emerge from the integration of mechanosensory and visual feedback with motor-related signals. Thus, this internal representation likely depends on the activity of circuits distributed across the central nervous system. However, the circuits responsible for self-motion estimation, and the exact mechanisms by which motor-sensory coordination occurs within these circuits remain poorly understood. Recent technological advances have positioned Drosophila melanogaster as an advantageous model for investigating the emergence, maintenance, and utilization of self-motion representations during naturalistic walking behaviors. In this review, I will illustrate how the adult fly is providing insights into the fundamental problems of self-motion computations and walking control, which have relevance for all animals.

Cortical Integration of Vestibular and Visual Cues for Navigation, Visual Processing, and Perception

Despite increasing evidence of its involvement in several key functions of the cerebral cortex, the vestibular sense rarely enters our consciousness. Indeed, the extent to which these internal signals are incorporated within cortical sensory representation and how they might be relied upon for sensory-driven decision-making, during, for example, spatial navigation, is yet to be understood. Recent novel experimental approaches in rodents have probed both the physiological and behavioral significance of vestibular signals and indicate that their widespread integration with vision improves both the cortical representation and perceptual accuracy of self-motion and orientation. Here, we summarize these recent findings with a focus on cortical circuits involved in visual perception and spatial navigation and highlight the major remaining knowledge gaps. We suggest that vestibulo-visual integration reflects a process of constant updating regarding the status of self-motion, and access to such information by the cortex is used for sensory perception and predictions that may be implemented for rapid, navigation-related decision-making.

A cortico-collicular circuit for orienting to shelter during escape

When faced with predatory threats, escape towards shelter is an adaptive action that offers long-term protection against the attacker. Animals rely on knowledge of safe locations in the environment to instinctively execute rapid shelter-directed escape actions1,2. Although previous work has identified neural mechanisms of escape initiation3,4, it is not known how the escape circuit incorporates spatial information to execute rapid flights along the most efficient route to shelter. Here we show that the mouse retrosplenial cortex (RSP) and superior colliculus (SC) form a circuit that encodes the shelter-direction vector and is specifically required for accurately orienting to shelter during escape. Shelter direction is encoded in RSP and SC neurons in egocentric coordinates and SC shelter-direction tuning depends on RSP activity. Inactivation of the RSP-SC pathway disrupts the orientation to shelter and causes escapes away from the optimal shelter-directed route, but does not lead to generic deficits in orientation or spatial navigation. We find that the RSP and SC are monosynaptically connected and form a feedforward lateral inhibition microcircuit that strongly drives the inhibitory collicular network because of higher RSP input convergence and synaptic integration efficiency in inhibitory SC neurons. This results in broad shelter-direction tuning in inhibitory SC neurons and sharply tuned excitatory SC neurons. These findings are recapitulated by a biologically constrained spiking network model in which RSP input to the local SC recurrent ring architecture generates a circular shelter-direction map. We propose that this RSP-SC circuit might be specialized for generating collicular representations of memorized spatial goals that are readily accessible to the motor system during escape, or more broadly, during navigation when the goal must be reached as fast as possible.

Keep a level head to know the way ahead: How rodents travel on inclined surfaces?

Animals traveling on a horizontal surface stabilize their head in relation to the substrate in order to gather spatial information and orient. What, however, do they do when traveling on an incline? We examined how three rodent species differing in motor abilities and habitats explore a platform tilted at 0–90°, hypothesizing that they would attempt to maintain bilateral vestibular cues. We found that traveling up or down was mainly straight vertically rather than diagonally, which results in identical bilateral vestibular cues. This was also achieved when traveling horizontally through rotating the head to parallel the horizontal plane. Traveling diagonally up or down was avoided, perhaps due to different bilateral vestibular cues that could hinder orientation. Accordingly, we suggest that maintaining identical bilateral cues is an orientational necessity that overrides differences in motor abilities and habitats, and that this necessity is a general characteristic of animals in motion.

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Three rodent species were tested on a platform inclined at 0°–90°

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Increased inclination results in traveling straight vertically or horizontally

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Both these shapes of trajectories feature a horizontal leveled head

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We suggest that such posture is required for spatial orientation when in motion

A Positioning Method Based on Place Cells and Head-Direction Cells for Inertial/Visual Brain-Inspired Navigation System

Mammals rely on vision and self-motion information in nature to distinguish directions and navigate accurately and stably. Inspired by the mammalian brain neurons to represent the spatial environment, the brain-inspired positioning method based on multi-sensors’ input is proposed to solve the problem of accurate navigation in the absence of satellite signals. In the research related to the application of brain-inspired engineering, it is not common to fuse various sensor information to improve positioning accuracy and decode navigation parameters from the encoded information of the brain-inspired model. Therefore, this paper establishes the head-direction cell model and the place cell model with application potential based on continuous attractor neural networks (CANNs) to encode visual and inertial input information, and then decodes the direction and position according to the population neuron firing response. The experimental results confirm that the brain-inspired navigation model integrates a variety of information, outputs more accurate and stable navigation parameters, and generates motion paths. The proposed model promotes the effective development of brain-inspired navigation research.

Multisensory coding of angular head velocity in the retrosplenial cortex

To successfully navigate the environment, animals depend on their ability to continuously track their heading direction and speed. Neurons that encode angular head velocity (AHV) are fundamental to this process, yet the contribution of various motion signals to AHV coding in the cortex remains elusive. By performing chronic single-unit recordings in the retrosplenial cortex (RSP) of the mouse and tracking the activity of individual AHV cells between freely moving and head-restrained conditions, we find that vestibular inputs dominate AHV signaling. Moreover, the addition of visual inputs onto these neurons increases the gain and signal-to-noise ratio of their tuning during active exploration. Psychophysical experiments and neural decoding further reveal that vestibular-visual integration increases the perceptual accuracy of angular self-motion and the fidelity of its representation by RSP ensembles. We conclude that while cortical AHV coding requires vestibular input, where possible, it also uses vision to optimize heading estimation during navigation.

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Angular head velocity (AHV) coding is widespread in the retrosplenial cortex (RSP)

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AHV cells maintain their tuning during passive motion and require vestibular input

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The perception of angular self-motion is improved when visual cues are present

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AHV coding is similarly improved when both vestibular and visual stimuli are used

Lying in a 3T MRI scanner induces neglect-like spatial attention bias

The static magnetic field of MRI scanners can induce a magneto-hydrodynamic stimulation of the vestibular organ (MVS). In common fMRI settings, this MVS effect leads to a vestibular ocular reflex (VOR). We asked whether - beyond inducing a VOR - putting a healthy subject in a 3T MRI scanner would also alter goal-directed spatial behavior, as is known from other types of vestibular stimulation. We investigated 17 healthy volunteers, all of which exhibited a rightward VOR inside the MRI-scanner as compared to outside-MRI conditions. More importantly, when probing the distribution of overt spatial attention inside the MRI using a visual search task, subjects scanned a region of space that was significantly shifted toward the right. An additional estimate of subjective straight-ahead orientation likewise exhibited a rightward shift. Hence, putting subjects in a 3T MRI-scanner elicits MVS-induced horizontal biases of spatial orienting and exploration, which closely mimic that of stroke patients with spatial neglect.

Vestibular cues improve landmark-based route navigation: A simulated driving study

It is well established that humans use self-motion and landmark cues to successfully navigate their environment. Existing research has demonstrated a critical role of the vestibular system in supporting navigation across many species. However, less is known about how vestibular cues interact with landmarks to promote successful navigation in humans. In the present study, we used a motion simulator to manipulate the presence or absence of vestibular cues during a virtual navigation task. Participants learned routes to a target destination in three different landmark blocks in a virtual town: one with proximal landmarks, one with distal landmarks, and one with no landmarks present. Afterwards, they were tested on their ability to retrace the route and find the target destination. We observed a significant interaction between vestibular cues and proximal landmarks, demonstrating that the potential for vestibular cues to improve route navigation is dependent on landmarks that are present in the environment. In particular, vestibular cues significantly improved route navigation when proximal landmarks were present, but this was not significant when distal landmarks or no landmarks were present. Overall, our results indicate that landmarks play an important role in the successful incorporation of vestibular cues to human spatial navigation.

Association between vestibular function and rotational spatial orientation perception in older adults

BACKGROUND

Spatial orientation is a complex process involving vestibular sensory input and possibly cognitive ability. Previous research demonstrated that rotational spatial orientation was worse for individuals with profound bilateral vestibular dysfunction.

OBJECTIVE

Determine whether rotational and linear vestibular function were independently associated with large amplitude rotational spatial orientation perception in healthy aging.

METHODS

Tests of rotational spatial orientation accuracy and vestibular function [vestibulo-ocular reflex (VOR), ocular and cervical vestibular evoked myogenic potentials (VEMP)] were administered to 272 healthy community-dwelling adults participating in the Baltimore Longitudinal Study of Aging. Using a mixed model multiple linear regression we regressed spatial orientation errors on lateral semicircular canal function, utricular function (ocular VEMP), and saccular function (cervical VEMP) in a single model controlling for rotation size, age, and sex.

RESULTS

After adjusting for age, and sex, individuals with bilaterally low VOR gain (β= 20.9, p = 0.014) and those with bilaterally absent utricular function (β= 9.32, p = 0.017) made significantly larger spatial orientation errors relative to individuals with normal vestibular function.

CONCLUSIONS

The current results demonstrate for the first time that either bilateral lateral semicircular canal dysfunction or bilateral utricular dysfunction are associated with worse rotational spatial orientation. We also demonstrated in a healthy aging cohort that increased age also contributes to spatial orientation ability.

Retinal ganglion cell defects cause decision shifts in visually evoked defense responses

A variety of visual cues can trigger defensive reactions in mice and other species. In mice, looming stimuli that mimic an approaching aerial predator elicit flight or freezing reactions, while sweeping stimuli that mimic an aerial predator flying parallel to the ground typically elicit freezing. The retinal ganglion cell (RGC) types involved in these circuits are largely unknown. We previously discovered that loss of RGC subpopulations in Brn3b knockout mice results in distinct visual response deficits. Here, we report that retinal or global loss of Brn3b selectively ablates the fleeing response to looming stimuli while leaving the freeze response intact. In contrast, freezing responses to sweeping stimuli are significantly affected. Genetic manipulations removing three RGC subpopulations (Brn3a⁺ betta RGCs, Opn4⁺Brn3b⁺, and Brn3c⁺Brn3b⁺ RGCs) result in milder phenocopies of Brn3b knockout response deficits. These findings show that flight and freezing responses to distinct visual cues are mediated by circuits that can already be separated at the level of the retina, potentially by enlisting dedicated RGC types.NEW & NOTEWORTHY Flight and freezing response choices evoked by visual stimuli are controlled by brain stem and thalamic circuits. Genetically modified mice with loss of specific retinal ganglion cell (RGC) subpopulations have altered flight versus freezing choices in response to some but not other visual stimuli. This finding suggests that "threatening" visual stimuli may be computed already at the level of the retina and communicated via dedicated pathways (RGCs) to the brain.

Volumetric spatial behaviour in rats reveals the anisotropic organisation of navigation

We investigated how access to the vertical dimension influences the natural exploratory and foraging behaviour of rats. Using high-accuracy three-dimensional tracking of position in two- and three-dimensional environments, we sought to determine (i) how rats navigated through the environments with respect to gravity, (ii) where rats chose to form their home bases in volumetric space, and (iii) how they navigated to and from these home bases. To evaluate how horizontal biases may affect these behaviours, we compared a 3D maze where animals preferred to move horizontally to a different 3D configuration where all axes were equally energetically costly to traverse. Additionally, we compared home base formation in two-dimensional arenas with and without walls to the three-dimensional climbing mazes. We report that many behaviours exhibited by rats in horizontal spaces naturally extend to fully volumetric ones, such as home base formation and foraging excursions. We also provide further evidence for the strong differentiation of the horizontal and vertical axes: rats showed a horizontal movement bias, they formed home bases mainly in the bottom layers of both mazes and they generally solved the vertical component of return trajectories before and faster than the horizontal component. We explain the bias towards horizontal movements in terms of energy conservation, while the locations of home bases are explained from an information gathering view as a method for correcting self-localisation.

Hot coffee: associative memory with bump attractor cell assemblies of spiking neurons

Networks of spiking neurons can have persistently firing stable bump attractors to represent continuous spaces (like temperature). This can be done with a topology with local excitatory synapses and local surround inhibitory synapses. Activating large ranges in the attractor can lead to multiple bumps, that show repeller and attractor dynamics; however, these bumps can be merged by overcoming the repeller dynamics. A simple associative memory can include these bump attractors, allowing the use of continuous variables in these memories, and these associations can be learned by Hebbian rules. These simulations are related to biological networks, showing that this is a step toward a more complete neural cognitive associative memory.

On the absence or presence of 3D tuned head direction cells in rats: a review and rebuttal

A major question in the field of spatial cognition is how animals represent three-dimensional (3D) space. Different results have been obtained across various species and may depend on whether the species inhabits a 3D environment or is terrestrial (land dwelling). The head direction (HD) cell system is an attractive candidate to study in terms of 3D representations. HD cells fire as a function of the animal's directional heading in the horizontal plane, independent of the animal's location and on-going behavior. Another issue concerns whether HD cells are tuned in 3D space or tuned to the 2D horizontal plane. Shinder and Taube (Shinder ME, Taube JS. J Neurophysiol 121: 4-37, 2019) addressed this issue by manipulating a rat's orientation in 3D space while monitoring responses from classic HD cells in the rat anterodorsal thalamus. They reported that HD cells did not display conjunctive firing with pitch or roll orientations. Direction-specific firing was primarily derived from horizontal semicircular canal information and that the gravity vector played an important role in influencing the cell's firing rate and its preferred firing direction. Laurens and Angelaki (Laurens J, Angelaki DE. J Neurophysiol 122: 1274-1287, 2019) challenged this view by performing a mathematical analysis on the Shinder and Taube data and concluded that they would not have seen 3D tuning based on their experimental approach. We provide a historical review of these issues followed by a summary of the experiments, which includes additional analyses. We then define what it means for a HD cell to be tuned in 3D and finish by rebutting the reanalyses performed by Laurens and Angelaki.

A gravity-based three-dimensional compass in the mouse brain

Gravity sensing provides a robust verticality signal for three-dimensional navigation. Head direction cells in the mammalian limbic system implement an allocentric neuronal compass. Here we show that head-direction cells in the rodent thalamus, retrosplenial cortex and cingulum fiber bundle are tuned to conjunctive combinations of azimuth and tilt, i.e. pitch or roll. Pitch and roll orientation tuning is anchored to gravity and independent of visual landmarks. When the head tilts, azimuth tuning is affixed to the head-horizontal plane, but also uses gravity to remain anchored to the allocentric bearings in the earth-horizontal plane. Collectively, these results demonstrate that a three-dimensional, gravity-based, neural compass is likely a ubiquitous property of mammalian species, including ground-dwelling animals.

Head direction neurons constitute the brain’s compass, and are classically known to indicate head orientation in the horizontal plane. Here, the authors show that head direction neurons form a three-dimensional compass that can also indicate head tilt, and anchors to gravity.

The place-cell representation of volumetric space in rats

Place cells are spatially modulated neurons found in the hippocampus that underlie spatial memory and navigation: how these neurons represent 3D space is crucial for a full understanding of spatial cognition. We wirelessly recorded place cells in rats as they explored a cubic lattice climbing frame which could be aligned or tilted with respect to gravity. Place cells represented the entire volume of the mazes: their activity tended to be aligned with the maze axes, and when it was more difficult for the animals to move vertically the cells represented space less accurately and less stably. These results demonstrate that even surface-dwelling animals represent 3D space and suggests there is a fundamental relationship between environment structure, gravity, movement and spatial memory.

The head direction cell network: attractor dynamics, integration within the navigation system, and three-dimensional properties

Knowledge of head direction cell function has progressed remarkably in recent years. The predominant theory that they form an attractor has been confirmed by several experiments. Candidate pathways that may convey visual input have been identified. The pre-subicular circuitry that conveys head direction signals to the medial entorhinal cortex, potentially sustaining path integration by grid cells, has been resolved. Although the neuronal substrate of the attractor remains unknown in mammals, a simple head direction network, whose structure is astoundingly similar to neuronal models theorized decades earlier, has been identified in insects. Finally, recent experiments have revealed that these cells do not encode head direction in the horizontal plane only, but also in vertical planes, thus providing a 3D orientation signal.

Mechanisms Underlying the Neural Computation of Head Direction

Many animals use an internal sense of direction to guide their movements through the world. Neurons selective to head direction are thought to support this directional sense and have been found in a diverse range of species, from insects to primates, highlighting their evolutionary importance. Across species, most head-direction networks share four key properties: a unique representation of direction at all times, persistent activity in the absence of movement, integration of angular velocity to update the representation, and the use of directional cues to correct drift. The dynamics of theorized network structures called ring attractors elegantly account for these properties, but their relationship to brain circuits is unclear. Here, we review experiments in rodents and flies that offer insights into potential neural implementations of ring attractor networks. We suggest that a theory-guided search across model systems for biological mechanisms that enable such dynamics would uncover general principles underlying head-direction circuit function.

Cortical circuits for integration of self-motion and visual-motion signals

The cerebral cortex contains cells which respond to movement of the head, and these cells are thought to be involved in the perception of self-motion. In particular, studies in the primary visual cortex of mice show that both running speed and passive whole-body rotation modulates neuronal activity, and modern genetically targeted viral tracing approaches have begun to identify previously unknown circuits that underlie these responses. Here we review recent experimental findings and provide a road map for future work in mice to elucidate the functional architecture and emergent properties of a cortical network potentially involved in the generation of egocentric-based visual representations for navigation.

NeuroSLAM: a brain-inspired SLAM system for 3D environments

Roboticists have long drawn inspiration from nature to develop navigation and simultaneous localization and mapping (SLAM) systems such as RatSLAM. Animals such as birds and bats possess superlative navigation capabilities, robustly navigating over large, three-dimensional environments, leveraging an internal neural representation of space combined with external sensory cues and self-motion cues. This paper presents a novel neuro-inspired 4DoF (degrees of freedom) SLAM system named NeuroSLAM, based upon computational models of 3D grid cells and multilayered head direction cells, integrated with a vision system that provides external visual cues and self-motion cues. NeuroSLAM's neural network activity drives the creation of a multilayered graphical experience map in a real time, enabling relocalization and loop closure through sequences of familiar local visual cues. A multilayered experience map relaxation algorithm is used to correct cumulative errors in path integration after loop closure. Using both synthetic and real-world datasets comprising complex, multilayered indoor and outdoor environments, we demonstrate NeuroSLAM consistently producing topologically correct three-dimensional maps.

Two Neural Circuits to Point Towards Home Position After Passive Body Displacements

A challenge in motor control research is to understand the mechanisms underlying the transformation of sensory information into arm motor commands. Here, we investigated these transformation mechanisms for movements whose targets were defined by information issued from body rotations in the dark (i.e., idiothetic information). Immediately after being rotated, participants reproduced the amplitude of their perceived rotation using their arm (Experiment 1). The cortical activation during movement planning was analyzed using electroencephalography and source analyses. Task-related activities were found in regions of interest (ROIs) located in the prefrontal cortex (PFC), dorsal premotor cortex, dorsal region of the anterior cingulate cortex (ACC) and the sensorimotor cortex. Importantly, critical regions for the cognitive encoding of space did not show significant task-related activities. These results suggest that arm movements were planned using a sensorimotor-type of spatial representation. However, when a 8 s delay was introduced between body rotation and the arm movement (Experiment 2), we found that areas involved in the cognitive encoding of space [e.g., ventral premotor cortex (vPM), rostral ACC, inferior and superior posterior parietal cortex (PPC)] showed task-related activities. Overall, our results suggest that the use of a cognitive-type of representation for planning arm movement after body motion is necessary when relevant spatial information must be stored before triggering the movement.

A model-based reassessment of the three-dimensional tuning of head direction cells in rats

In a recent study, Shinder and Taube (Shinder ME, Taube JS. J Neurophysiol 121: 4-37, 2019) concluded that head direction cells in the anterior thalamus of rats are tuned to one-dimensional (1D, yaw-only) motion, in contrast to recent findings in bats, mice, and rats. Here we reinterpret the author's experimental results using model comparison and demonstrate that, contrary to their conclusions, experimental data actually supports the dual-axis rule (lson JJ, Jeffery KJ. JNeurophysiol 119: 192-208, 2018) and tilted azimuth model (Laurens J, Angelaki DE. Neuron 97: 275-289, 2018), where head direction cells use gravity to integrate 3D rotation signals about all cardinal axes of the head. We further show that the Shinder and Taube study is inconclusive regarding the presence of vertical orientation tuning; i.e., whether head direction cells encode 3D orientation in the horizontal and vertical planes conjunctively. Using model simulations, we demonstrate that, even if 3D tuning existed, the experimental protocol and data analyses used by Shinder and Taube would not have revealed it. We conclude that the actual experimental data of Shinder and Taube are compatible with the 3D properties of head direction cells discovered by other groups, yet incorrect conclusions were reached because of incomplete and qualitative analyses.NEW & NOTEWORTHY We conducted a model-based analysis previously published data where rat head direction cells were recorded during three-dimensional motion (Shinder ME, Taube JS. J Neurophysiol 121: 4-37, 2019). We found that these data corroborate previous models ("dual-axis rule," Page HJI, Wilson JJ, Jeffery KJ. J Neurophysiol 119: 192-208, 2018; and "tilted azimuth model," Laurens J, Angelaki DE. Neuron 97: 275-289, 2018) where head direction cells integrate rotations along all three head axes to encode head orientation in a gravity-anchored reference frame.

Vestibular processing during natural self-motion: implications for perception and action

How the brain computes accurate estimates of our self-motion relative to the world and our orientation relative to gravity in order to ensure accurate perception and motor control is a fundamental neuroscientific question. Recent experiments have revealed that the vestibular system encodes this information during everyday activities using pathway-specific neural representations. Furthermore, new findings have established that vestibular signals are selectively combined with extravestibular information at the earliest stages of central vestibular processing in a manner that depends on the current behavioural goal. These findings have important implications for our understanding of the brain mechanisms that ensure accurate perception and behaviour during everyday activities and for our understanding of disorders of vestibular processing.

Perception of Verticality and Vestibular Disorders of Balance and Falls

Objective: To review current knowledge of the perception of verticality, its normal function and disorders. This is based on an integrative graviceptive input from the vertical semicircular canals and the otolith organs.

Methods: The special focus is on human psychophysics, neurophysiological and imaging data on the adjustments of subjective visual vertical (SVV) and the subjective postural vertical. Furthermore, examples of mathematical modeling of specific vestibular cell functions for orientation in space in rodents and in patients are briefly presented.

Results: Pathological tilts of the SVV in the roll plane are most sensitive and frequent clinical vestibular signs of unilateral lesions extending from the labyrinths via the brainstem and thalamus to the parieto-insular vestibular cortex. Due to crossings of ascending graviceptive fibers, peripheral vestibular and pontomedullary lesions cause ipsilateral tilts of the SVV; ponto-mesencephalic lesions cause contralateral tilts. In contrast, SVV tilts, which are measured in unilateral vestibular lesions at thalamic and cortical levels, have two different characteristic features: (i) they may be ipsi- or contralateral, and (ii) they are smaller than those found in lower brainstem or peripheral lesions. Motor signs such as head tilt and body lateropulsion, components of ocular tilt reaction, are typical for vestibular lesions of the peripheral vestibular organ and the pontomedullary brainstem (vestibular nucleus). They are less frequent in midbrain lesions (interstitial nucleus of Cajal) and rare in cortical lesions. Isolated body lateropulsion is chiefly found in caudal lateral medullary brainstem lesions. Vestibular function in the roll plane and its disorders can be mathematically modeled by an attractor model of angular head velocity cell and head direction cell function. Disorders manifesting with misperception of the body vertical are the pusher syndrome, the progressive supranuclear palsy, or the normal pressure hydrocephalus; they may affect roll and/or pitch plane.

Conclusion: Clinical determinations of the SVV are easy and reliable. They indicate acute unilateral vestibular dysfunctions, the causative lesion of which extends from labyrinth to cortex. They allow precise topographical diagnosis of side and level in unilateral brainstem or peripheral vestibular disorders. SVV tilts may coincide with or differ from the perception of body vertical, e.g., in isolated body lateropulsion.

Anticipatory Neural Activity Improves the Decoding Accuracy for Dynamic Head-Direction Signals

Insects and vertebrates harbor specific neurons that encode the animal's head direction (HD) and provide an internal compass for spatial navigation. Each HD cell fires most strongly in one preferred direction. As the animal turns its head, however, HD cells in rat anterodorsal thalamic nucleus (ADN) and other brain areas fire already before their preferred direction is reached, as if the neurons anticipated the future HD. This phenomenon has been explained at a mechanistic level, but a functional interpretation is still missing. To close this gap, we use a computational approach based on the movement statistics of male rats and a simple model for the neural responses within the ADN HD network. Network activity is read out using population vectors in a biologically plausible manner, so that only past spikes are taken into account. We find that anticipatory firing improves the representation of the present HD by reducing the motion-induced temporal bias inherent in causal decoding. The amount of anticipation observed in ADN enhances the precision of the HD compass read-out by up to 40%. More generally, our theoretical framework predicts that neural integration times not only reflect biophysical constraints, but also the statistics of behaviorally relevant stimuli; in particular, anticipatory tuning should be found wherever neurons encode sensory signals that change gradually in time.SIGNIFICANCE STATEMENT Across different brain regions, populations of noisy neurons encode dynamically changing stimuli. Decoding a time-varying stimulus from the population response involves a trade-off: For short read-out times, stimulus estimates are unreliable as the number of stochastic spikes is small; for long read-outs, estimates are biased because they lag behind the true stimulus. We show that optimal decoding of temporally correlated stimuli not only relies on finding the right read-out time window but requires neurons to anticipate future stimulus values. We apply this general framework to the rodent head-direction system and show that the experimentally observed anticipation of future head directions can be explained at a quantitative level from the neuronal tuning properties, network size, and the animal's head-movement statistics.

A hierarchical anti-Hebbian network model for the formation of spatial cells in three-dimensional space

Three-dimensional (3D) spatial cells in the mammalian hippocampal formation are believed to support the existence of 3D cognitive maps. Modeling studies are crucial to comprehend the neural principles governing the formation of these maps, yet to date very few have addressed this topic in 3D space. Here we present a hierarchical network model for the formation of 3D spatial cells using anti-Hebbian network. Built on empirical data, the model accounts for the natural emergence of 3D place, border, and grid cells, as well as a new type of previously undescribed spatial cell type which we call plane cells. It further explains the plausible reason behind the place and grid-cell anisotropic coding that has been observed in rodents and the potential discrepancy with the predicted periodic coding during 3D volumetric navigation. Lastly, it provides evidence for the importance of unsupervised learning rules in guiding the formation of higher-dimensional cognitive maps.

Neurons in the hippocampal formation encode diverse spatial properties. Here, the authors present a hierarchical network model for 3D spatial navigation that accounts for the observed neuronal representations and predict as yet unreported cell types with planar selectivity.

Neuronal network-based mathematical modeling of perceived verticality in acute unilateral vestibular lesions: from nerve to thalamus and cortex

Acute unilateral lesions of vestibular graviceptive pathways from the otolith organs and semicircular canals via vestibular nuclei and the thalamus to the parieto-insular vestibular cortex regularly cause deviations of perceived verticality in the frontal roll plane. These tilts are ipsilateral in peripheral and in ponto-medullary lesions and contralateral in ponto-mesencephalic lesions. Unilateral lesions of the vestibular thalamus or cortex cause smaller tilts of the perceived vertical, which may be either ipsilateral or contralateral. Using a neural network model, we previously explained why unilateral vestibular midbrain lesions rarely manifest with rotational vertigo. We here extend this approach, focussing on the direction-specific deviations of perceived verticality in the roll plane caused by acute unilateral vestibular lesions from the labyrinth to the cortex. Traditionally, the effect of unilateral peripheral lesions on perceived verticality has been attributed to a lesion-based bias of the otolith system. We here suggest, on the basis of a comparison of model simulations with patient data, that perceived visual tilt after peripheral lesions is caused by the effect of a torsional semicircular canal bias on the central gravity estimator. We further argue that the change of gravity coding from a peripheral/brainstem vectorial representation in otolith coordinates to a distributed population coding at thalamic and cortical levels can explain why unilateral thalamic and cortical lesions have a variable effect on perceived verticality. Finally, we propose how the population-coding network for gravity direction might implement the elements required for the well-known perceptual underestimation of the subjective visual vertical in tilted body positions.

Role of the head-direction signal in spatial tasks: when and how does it guide behavior?

Since their discovery, mammalian head-direction (HD) cells have been extensively researched in terms of sensory origins, external cue control, and circuitry. However, the relationship of HD cells to behavior is not yet fully understood. In the current review, we examine the anatomical clues for information flow in the HD circuit and an emerging body of evidence that links neural activity of HD cells and spatial orientation. We hypothesize from results obtained in spatial orientation tasks involving HD cells that when properly aligned with available external cues, the HD signal could be used for guiding rats to a goal location. However, contradictory inputs from separate sensory systems may reduce the influence of the HD signal such that animals are able to switch between this and other systems according to their impact on behavior.