The information content of panoramic images I: The rotational errors and the similarity of views in rectangular experimental arenas

Distinct neural mechanisms for heading retrieval and context recognition in the hippocampus during spatial reorientation

Reorientation, the process of regaining one's bearings after becoming lost, requires identification of a spatial context (context recognition) and recovery of facing direction within that context (heading retrieval). We previously showed that these processes rely on the use of features and geometry, respectively. Here, we examine reorientation behavior in a task that creates contextual ambiguity over a long timescale to demonstrate that male mice learn to combine both featural and geometric cues to recover heading. At the neural level, most CA1 neurons persistently align to geometry, and this alignment predicts heading behavior. However, a small subset of cells remaps coherently in a context-sensitive manner, which serves to predict context. Efficient heading retrieval and context recognition correlate with rate changes reflecting integration of featural and geometric information in the active ensemble. These data illustrate how context recognition and heading retrieval are coded in CA1 and how these processes change with experience.

Geometry-based navigation in the dark: layout symmetry facilitates spatial learning in the house cricket, Acheta domesticus, in the absence of visual cues

The capacity to navigate by layout geometry has been widely recognized as a robust strategy of place-finding. It has been reported in various species, although most studies were performed with vision-based paradigms. In the presented study, we aimed to investigate layout symmetry-based navigation in the house cricket, Acheta domesticus, in the absence of visual cues. For this purpose, we used a non-visual paradigm modeled on the Tennessee Williams setup. We ensured that the visual cues were indeed inaccessible to insects. In the main experiment, we tested whether crickets are capable of learning to localize the centrally positioned, inconspicuous cool spot in heated arenas of various shapes (i.e., circular, square, triangular, and asymmetric quadrilateral). We found that the symmetry of the arena significantly facilitates crickets’ learning to find the cool spot, indicated by the increased time spent on the cool spot and the decreased latency in locating it in subsequent trials. To investigate mechanisms utilized by crickets, we analyzed their approach paths to the spot. We found that crickets used both heuristic and directed strategies of approaching the target, with the dominance of a semi-directed strategy (i.e., a thigmotactic phase preceding direct navigation to the target). We propose that the poor performance of crickets in the asymmetrical quadrilateral arena may be explained by the difficulty of encoding its layout with cues from a single modality.

The effect of schizotypy on spatial learning in an environment with a distinctive shape

In two experiments, participants completed the Oxford-Liverpool Inventory of Feelings and Experiences measuring schizotypal traits across four dimensions (unusual experiences, cognitive disorganization, introvertive anhedonia, and impulsive non-conformity). They then took part in a virtual navigation task where they were required to learn about the position of a hidden goal with reference to geometric cues of a rectangular arena or rely on colored wall panels to find the hidden goal in a square-shaped arena. Unusual experience and cognitive disorganization were significant predictors of the use of geometric cues, but no significant predictors were found for the use of wall panels. Implications to hippocampal function and the clinical domain are considered.

Navigable Space and Traversable Edges Differentially Influence Reorientation in Sighted and Blind Mice

Reorientation enables navigators to regain their bearings after becoming lost. Disoriented individuals primarily reorient themselves using the geometry of a layout, even when other informative cues, such as landmarks, are present. Yet the specific strategies that animals use to determine geometry are unclear. Moreover, because vision allows subjects to rapidly form precise representations of objects and background, it is unknown whether it has a deterministic role in the use of geometry. In this study, we tested sighted and congenitally blind mice (Ns = 8-11) in various settings in which global shape parameters were manipulated. Results indicated that the navigational affordances of the context-the traversable space-promote sampling of boundaries, which determines the effective use of geometric strategies in both sighted and blind mice. However, blind animals can also effectively reorient themselves using 3D edges by extensively patrolling the borders, even when the traversable space is not limited by these boundaries.

The Geometric World of Fishes: A Synthesis on Spatial Reorientation in Teleosts

Simple Summary

Animals inhabit species-specific ecological environments and acquire knowledge about the surrounding space to adaptively behave and move within it. Spatial cognition is important for achieving basic survival actions such as detecting the position of a food site or a mate, going back home or hiding from a predator. As such, animals possess multiple mechanisms for spatial mapping, including the use of individual reference points or positional relationships among them. One such mechanism allows disoriented animals to navigate according to the distinctive geometry of the environment: within a rectangular enclosure, they can simply reorient by using “metrics” (e.g., longer/shorter, closer/farther) and “sense” (e.g., left, right) attributes. Navigation based on the environmental geometry has been widely investigated across the animal kingdom, including fishes. In particular, research on teleost fish has contributed to the general understanding of geometric representations through both visual and extra-visual modalities, even vertebrates phylogenetically remote from mammals.

Abstract

Fishes navigate through underwater environments with remarkable spatial precision and memory. Freshwater and seawater species make use of several orientation strategies for adaptative behavior that is on par with terrestrial organisms, and research on cognitive mapping and landmark use in fish have shown that relational and associative spatial learning guide goal-directed navigation not only in terrestrial but also in aquatic habitats. In the past thirty years, researchers explored spatial cognition in fishes in relation to the use of environmental geometry, perhaps because of the scientific value to compare them with land-dwelling animals. Geometric navigation involves the encoding of macrostructural characteristics of space, which are based on the Euclidean concepts of “points”, “surfaces”, and “boundaries”. The current review aims to inspect the extant literature on navigation by geometry in fishes, emphasizing both the recruitment of visual/extra-visual strategies and the nature of the behavioral task on orientation performance.

An adaptive cue selection model of allocentric spatial reorientation

After becoming disoriented, an organism must use the local environment to reorient and recover vectors to important locations. A new theory, adaptive combination, suggests that the information from different spatial cues is combined with Bayesian efficiency during reorientation. To test this further, we modified the standard reorientation paradigm to be more amenable to Bayesian cue combination analyses while still requiring reorientation in an allocentric (i.e., world-based, not egocentric) frame. Twelve adults and 20 children at ages 5 to 7 years old were asked to recall locations in a virtual environment after a disorientation. Results were not consistent with adaptive combination. Instead, they are consistent with the use of the most useful (nearest) single landmark in isolation. We term this adaptive selection. Experiment 2 suggests that adults also use the adaptive selection method when they are not disoriented but are still required to use a local allocentric frame. This suggests that the process of recalling a location in the allocentric frame is typically guided by the single most useful landmark rather than a Bayesian combination of landmarks. These results illustrate that there can be important limits to Bayesian theories of the cognition, particularly for complex tasks such as allocentric recall.

Whether studying the development of children’s spatial cognition, creating artificial intelligence with human-like capacities, or designing civic spaces, we can benefit from a strong understanding of how humans process the space around them. Here we tested a prominent theory that brings together statistical theory and psychological theory (Bayesian models of perception and memory) but found that it could not satisfactorily explain our data. Our findings suggest that when tracking the spatial relations between objects from different viewpoints, rather than efficiently combining all the available landmarks, people often fall back to the much simpler method of tracking the spatial relation to the nearest landmark.

How to turn the corner: Discrimination of path shapes in rats

The internal representation of a path shape is an element that constructs an internal representation of an entire route or environment. In the present study, we examined the ability of rats to discriminate path shapes. The rats learned to discriminate between an oval-shaped runway and a square-shaped one and to respond to one of two response boxes on the two sides of the runways. After the learning sessions, we tested which of the inner and outer walls the rats used as cues for discrimination using different wall shapes. The results suggest that the rats used the shape of the inner walls for the discrimination. Subsequently, the learning sessions, in which different shapes of the inner and outer walls were used, continued. There was a tendency for the rats to show better performance when the shape of the inner walls was congruent with the rule in the original learning, suggesting again that the rats used the shape of the inner wall for the discrimination. In addition, similar results were obtained when the task was conducted in the dark, suggesting that rats can discriminate path shapes using non-visual information.

The role of learning and environmental geometry in landmark-based spatial reorientation of fish (Xenotoca eiseni)

Disoriented animals and humans use both the environmental geometry and visual landmarks to guide their spatial behavior. Although there is a broad consensus on the use of environmental geometry across various species of vertebrates, the nature of disoriented landmark-use has been greatly debated in the field. In particular, the discrepancy in performance under spontaneous choice conditions (sometimes called “working memory” task) and training over time (“reference memory” task) has raised questions about the task-dependent dissociability of mechanisms underlying the use of landmarks. Until now, this issue has not been directly addressed, due to the inclusion of environmental geometry in most disoriented navigation paradigms. In the present study, therefore, we placed our focus on landmark-based navigation in fish (Xenotoca eiseni), an animal model that has provided fruitful research in spatial reorientation. We began with a test of spontaneous navigation by geometry and landmarks (Experiment 1), showing a preference for the correct corner, even in the absence of reinforced training. We then proceeded to test landmarks without the influence of informative geometry through the use of square environments (Experiment 2–4), varying the numerosity of present landmarks, the distance of landmarks from the target corner, and the type of task (i.e., spontaneous cued memory or reference memory). We found marked differences in landmark-use in the absence of environmental geometry. In the spontaneous memory task, visual landmarks acquired perceptive salience (and attracted the fish) but without serving as a spatial cue to location when they were distal from the target. Across learning in the reference memory task, the fish overcame these effects and gradually improved in their performance, although they were still biased to learn visual landmarks near the target (i.e., as beacons). We discuss these results in relation to the existing literature on dissociable mechanisms of spatial learning.

Spatial reorientation with a geometric array of auditory cues

A visuocentric bias has dominated the literature on spatial navigation and reorientation. Studies on visually accessed environments indicate that, during reorientation, human and non-human animals encode the geometric shape of the environment, even if this information is unnecessary and insufficient for the task. In an attempt to extend our limited knowledge on the similarities and differences between visual and non-visual navigation, here we examined whether the same phenomenon would be observed during auditory-guided reorientation. Provided with a rectangular array of four distinct auditory landmarks, blindfolded, sighted participants had to learn the location of a target object situated on a panel of an octagonal arena. Subsequent test trials were administered to understand how the task was acquired. Crucially, in a condition in which the auditory cues were indistinguishable (same sound sample), participants could still identify the correct target location, suggesting that the rectangular array of auditory landmarks was encoded as a geometric configuration. This is the first evidence of incidental encoding of geometric information with auditory cues and, consistent with the theory of functional equivalence, it supports the generalisation of mechanisms of spatial learning across encoding modalities.

Coding Locations Relative to One or Many Landmarks in Childhood

Cognitive development studies how information processing in the brain changes over the course of development. A key part of this question is how information is represented and stored in memory. This study examined allocentric (world-based) spatial memory, an important cognitive tool for planning routes and interacting with the space around us. This is typically theorized to use multiple landmarks all at once whenever it operates. In contrast, here we show that allocentric spatial memory frequently operates over a limited spatial window, much less than the full proximal scene, for children between 3.5 and 8.5 years old. The use of multiple landmarks increases gradually with age. Participants were asked to point to a remembered target location after a change of view in immersive virtual reality. A k-fold cross-validation model-comparison selected a model where young children usually use the target location's vector to the single nearest landmark and rarely take advantage of the vectors to other nearby landmarks. The comparison models, which attempt to explain the errors as generic forms of noise rather than encoding to a single spatial cue, did not capture the distribution of responses as well. Parameter fits of this new single- versus multi-cue model are also easily interpretable and related to other variables of interest in development (age, executive function). Based on this, we theorize that spatial memory in humans develops through three advancing levels (but not strict stages): most likely to encode locations egocentrically (relative to the self), then allocentrically (relative to the world) but using only one landmark, and finally, most likely to encode locations relative to multiple parts of the scene.

Crossing boundaries: Global reorientation following transfer from the inside to the outside of an arena

In 2 spatial navigation experiments, human participants were asked to find a hidden goal (a WiFi signal) that was located in 1 of the right-angled corners of a kite-shaped (Experiment 1) or a cross-shaped (Experiment 2) virtual environment. Goal location was defined solely with respect to the geometry of the environment. Following this training, in a test conducted in extinction, participants were placed onto the outside of the same environments and asked to locate the WiFi signal. The results of both experiments revealed that participants spent more time searching in regions on the outside of the environments that were closest to where the WiFi signal was located during training. These results are difficult to explain in terms of analyses of spatial navigation and reorientation that emphasize the role of local representational encoding or view matching. Instead, we suggest that these results are better understood in terms of a global representation of the shape of the environment.

The internal maps of insects

Insect navigation is strikingly geometric. Many species use path integration to maintain an accurate estimate of their distance and direction (a vector) to their nest and can store the vector information for multiple salient locations in the world, such as food sources, in a common coordinate system. Insects can also use remembered views of the terrain around salient locations or along travelled routes to guide return, which is a fundamentally geometric process. Recent modelling of these abilities shows convergence on a small set of algorithms and assumptions that appear sufficient to account for a wide range of behavioural data. Notably, this 'base model' does not include any significant topological knowledge: the insect does not need to recover the information (implicit in their vector memory) about the relationships between salient places; nor to maintain any connectedness or ordering information between view memories; nor to form any associations between views and vectors. However, there remains some experimental evidence not fully explained by this base model that may point towards the existence of a more complex or integrated mental map in insects.

Extra-Visual Systems in the Spatial Reorientation of Cavefish

Disoriented humans and animals are able to reorient themselves using environmental geometry ("metric properties" and "sense") and local features, also relating geometric to non-geometric information. Here we investigated the presence of these reorientation spatial skills in two species of blind cavefish (Astyanax mexicanus and Phreatichthys andruzzii), in order to understand the possible role of extra-visual senses in similar spatial tasks. In a rectangular apparatus, with all homogeneous walls (geometric condition) or in presence of a tactilely different wall (feature condition), cavefish were required to reorient themselves after passive disorientation. We provided the first evidence that blind cavefish, using extra-visual systems, were able i) to use geometric cues, provided by the shape of the tank, in order to recognize two geometric equivalent corners on the diagonal, and ii) to integrate the geometric information with the salient cue (wall with a different surface structure), in order to recover a specific corner. These findings suggest the ecological salience of the environmental geometry for spatial orientation in animals and, despite the different niches of adaptation, a potential shared background for spatial navigation. The geometric spatial encoding seems to constitute a common cognitive tool needed when the environment poses similar requirements to living organisms.

Place recognition from distant landmarks: human performance and maximum likelihood model

We present a simple behavioral experiment on human place recognition from a configuration of four visual landmarks. Participants were asked to navigate several paths, all involving a turn at one specific point, and while doing so incidentally learned the position of that turning point. In the test phase, they were asked to return to the turning point in a reduced environment leaving only the four landmarks visible. Results are compared to two versions of a maximum likelihood model of place recognition using either view-based or depth-based cues for place recognition. Only the depth-based model is in good qualitative agreement with the data. In particular, it reproduces landmark configuration-dependent effects of systematic bias and statistical error distribution as well as effects of approach direction. The model is based on a place code (depth and bearing of the landmarks at target location) and an egocentric working memory of surrounding space including current landmark position in a local, map-like representation. We argue that these elements are crucial for human place recognition.

Complementary landmarks facilitate ant navigation

Visual landmarks are important navigational aids to many animals, and when more than one is available their juxtaposition can convey valuable new information to a navigator about progress toward a goal, depending on the landmarks' comparative distinctiveness. We investigated the effect of presenting rock ant colonies (Temnothorax albipennis) with identical horizontal landmarks either side of their route, versus one horizontal landmark paired with a sloping landmark, as they navigated to a new nest site. Our findings suggest that ants can obtain more navigational information from a combination of dissimilar landmarks: the average tortuosity of the route taken between old and new nests was significantly lower when a horizontal landmark was paired with a monotonically downward sloping landmark (the paths were more direct). The impact on available navigational information from the similarity or dissimilarity of nearby landmarks is likely made through more distinctive visual panoramas, and could be an influential factor in individual and collective animal decision-making about which routes are followed. Furthermore, the effect of landmark complementarity may be relevant to a wide range of species, including other insects or birds, and highlights the possibility that there is an intrinsic difference in the informational content of natural vs. artificial environments.

Taking an insect-inspired approach to bird navigation

Navigation is an essential skill for many animals, and understanding how animal use environmental information, particularly visual information, to navigate has a long history in both ethology and psychology. In birds, the dominant approach for investigating navigation at small-scales comes from comparative psychology, which emphasizes the cognitive representations underpinning spatial memory. The majority of this work is based in the laboratory and it is unclear whether this context itself affects the information that birds learn and use when they search for a location. Data from hummingbirds suggests that birds in the wild might use visual information in quite a different manner. To reconcile these differences, here we propose a new approach to avian navigation, inspired by the sensory-driven study of navigation in insects. Using methods devised for studying the navigation of insects, it is possible to quantify the visual information available to navigating birds, and then to determine how this information influences those birds' navigation decisions. Focusing on four areas that we consider characteristic of the insect navigation perspective, we discuss how this approach has shone light on the information insects use to navigate, and assess the prospects of taking a similar approach with birds. Although birds and insects differ in many ways, there is nothing in the insect-inspired approach of the kind we describe that means these methods need be restricted to insects. On the contrary, adopting such an approach could provide a fresh perspective on the well-studied question of how birds navigate through a variety of environments.

Quantifying navigational information: The catchment volumes of panoramic snapshots in outdoor scenes

Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its 'catchment area') has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the 'catchment volumes' within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots.

Environmental Geometry Aligns the Hippocampal Map during Spatial Reorientation

When a navigator's internal sense of direction is disrupted, she must rely on external cues to regain her bearings, a process termed spatial reorientation. Extensive research has demonstrated that the geometric shape of the environment exerts powerful control over reorientation behavior, but the neural and cognitive mechanisms underlying this phenomenon are not well understood. Whereas some theories claim that geometry controls behavior through an allocentric mechanism potentially tied to the hippocampus, others postulate that disoriented navigators reach their goals by using an egocentric view-matching strategy. To resolve this debate, we characterized hippocampal representations during reorientation. We first recorded from CA1 cells as disoriented mice foraged in chambers of various shapes. We found that the alignment of the recovered hippocampal map was determined by the geometry of the chamber, but not by nongeometric cues, even when these cues could be used to disambiguate geometric ambiguities. We then recorded hippocampal activity as disoriented mice performed a classical goal-directed spatial memory task in a rectangular chamber. Again, we found that the recovered hippocampal map aligned solely to the chamber geometry. Critically, we also found a strong correspondence between the hippocampal map alignment and the animal's behavior, making it possible to predict the search location of the animal from neural responses on a trial-by-trial basis. Together, these results demonstrate that spatial reorientation involves the alignment of the hippocampal map to local geometry. We hypothesize that geometry may be an especially salient cue for reorientation because it is an inherently stable aspect of the environment.

Ant Homing Ability Is Not Diminished When Traveling Backwards

Ants are known to be capable of homing to their nest after displacement to a novel location. This is widely assumed to involve some form of retinotopic matching between their current view and previously experienced views. One simple algorithm proposed to explain this behavior is continuous retinotopic alignment, in which the ant constantly adjusts its heading by rotating to minimize the pixel-wise difference of its current view from all views stored while facing the nest. However, ants with large prey items will often drag them home while facing backwards. We tested whether displaced ants (Myrmecia croslandi) dragging prey could still home despite experiencing an inverted view of their surroundings under these conditions. Ants moving backwards with food took similarly direct paths to the nest as ants moving forward without food, demonstrating that continuous retinotopic alignment is not a critical component of homing. It is possible that ants use initial or intermittent retinotopic alignment, coupled with some other direction stabilizing cue that they can utilize when moving backward. However, though most ants dragging prey would occasionally look toward the nest, we observed that their heading direction was not noticeably improved afterwards. We assume ants must use comparison of current and stored images for corrections of their path, but suggest they are either able to chose the appropriate visual memory for comparison using an additional mechanism; or can make such comparisons without retinotopic alignment.

Rotating panoramic view: interaction between visual and olfactory cues in ants

Insects use a navigational toolkit consisting of multiple strategies such as path integration, view-dependent recognition methods and olfactory cues. The question arises as to how directional cues afforded by a visual panorama combine with olfactory cues from a pheromone trail to guide ants towards their nest. We positioned a garden ant Lasius niger on a rotating table, whereon a segment of a pheromone trail relative to the stationary panorama was rotated while the ant walked along the trail towards its nest. The rotational speed of the table (3 r.p.m.) was set so that the table would rotate through about 90° by the time that an ant had walked from the start to the centre of the table. The ant completed a U-turn at about this point and so travelled in a nest-ward direction without leaving the trail. These results suggest that the ants persist on the pheromone trail and use visual input to determine their direction of travel along the trail.

Blocking spatial navigation across environments that have a different shape

According to the geometric module hypothesis, organisms encode a global representation of the space in which they navigate, and this representation is not prone to interference from other cues. A number of studies, however, have shown that both human and non-human animals can navigate on the basis of local geometric cues provided by the shape of an environment. According to the model of spatial learning proposed by Miller and Shettleworth (2007, 2008), geometric cues compete for associative strength in the same manner as non-geometric cues do. The experiments reported here were designed to test if humans learn about local geometric cues in a manner consistent with the Miller-Shettleworth model. Experiment 1 replicated previous findings that humans transfer navigational behavior, based on local geometric cues, from a rectangle-shaped environment to a kite-shaped environment, and vice versa. In Experiments 2 and 3, it was observed that learning about non-geometric cues blocked, and were blocked by, learning about local geometric cues. The reciprocal blocking observed is consistent with associative theories of spatial learning; however, it is difficult to explain the observed effects with theories of global-shape encoding in their current form.

A new biomarker to examine the role of hippocampal function in the development of spatial reorientation in children: a review

Spatial navigation is an adaptive skill that involves determining the route to a particular goal or location, and then traveling that path. A major component of spatial navigation is spatial reorientation, or the ability to reestablish a sense of direction after being disoriented. The hippocampus is known to be critical for navigating, and has more recently been implicated in reorienting in adults, but relatively little is known about the development of the hippocampus in relation to these large-scale spatial abilities in children. It has been established that, compared to school-aged children, preschool children tend to perform poorly on certain spatial reorientation tasks, suggesting that their hippocampi may not be mature enough to process the demands of such a task. Currently, common techniques used to examine underlying brain activity, such as electroencephalography (EEG) and functional magnetic resonance imaging (fMRI), are not suitable for examining hippocampal development in young children. In the present paper, we argue instead for the use of eyeblink conditioning (EBC), a relatively under-utilized, inexpensive, and safe method that is easy to implement in developing populations. In addition, EBC has a well defined neural circuitry, which includes the hippocampus, making it an ideal tool to indirectly measure hippocampal functioning in young children. In this review, we will evaluate the literature on EBC and its relation to hippocampal development, and discuss the possibility of using EBC as an objective measure of associative learning in relation to large-scale spatial skills. We support the use of EBC as a way to indirectly access hippocampal function in typical and atypical populations in order to characterize the neural substrates associated with the development of spatial reorientation abilities in early childhood. As such, EBC is a potential, simple biomarker for success in tasks that require the hippocampus, including spatial reorientation.

Evidence for concrete but not abstract representation of length during spatial learning in rats

In 4 experiments, rats had to discriminate between the lengths of 2 objects of the same color, black or white, before a test trial with the same objects but of opposite color. The experiments took place in a pool from which rats had to escape by swimming to 1 of 2 submerged platforms. For Experiments 1 and 2, the platforms were situated near the centers of panels of 1 length, but not another, that were pasted onto the gray walls of a square arena. The acquired preference for the correct length was eliminated by changing the color of the panels. In Experiment 3, the platforms were situated near the middle of the long walls of a rectangular pool, and in Experiment 4 they were situated in 1 pair of diagonally opposite corners of the same pool. Changing the color of the walls markedly disrupted the effects of the original training in both experiments. The results indicate that rats represent the length of objects not by their abstract, geometric attributes but in a more concrete fashion such as by a mental snapshot or by the amount of color stimulation they provide.

The role of local, distal, and global information in latent spatial learning

In 4 experiments that investigated latent spatial learning, rats were repeatedly placed on a submerged platform in a corner of a square swimming pool with walls of different brightness. When they were subsequently released into the pool for a test trial in the absence of the platform, they spent the majority of time in the corner used for placement training-the correct corner. This effect was observed in Experiment 1, even when the test trial took place in a transformed version of the training arena. Experiments 2 and 3 indicated that the correct corner was identified by local cues based on the walls creating the corner. Experiment 4 demonstrated that distal cues created by the two walls that did not surround the platform during placement training could also be used to identify the correct corner. There was no evidence of learning about the relationship between global cues provided by the entire arena and the goal. The absence of the opportunity to develop instrumental, stimulus-response associations during placement training indicates that stimulus-stimulus associations acquired during this training were sufficient to guide rats to the platform when they were eventually released into the pool.

Core knowledge and the emergence of symbols: The case of maps

Map reading is unique to humans but present in people of diverse cultures, at ages as young as 4 years. Here we explore the nature and sources of this ability, asking both what geometric information young children use in maps and what non-symbolic systems are associated with their map-reading performance. Four-year-old children were given two tests of map-based navigation (placing an object within a small 3D surface layout at a position indicated on a 2D map), one focused on distance relations and the other on angle relations. Children also were given two non-symbolic tasks, testing their use of geometry for navigation (a reorientation task) and for visual form analysis (a deviant-detection task). Although children successfully performed both map tasks, their performance on the two map tasks was uncorrelated, providing evidence for distinct abilities to represent distance and angle on 2D maps of 3D surface layouts. In contrast, performance on each map task was associated with performance on one of the two non-symbolic tasks: map-based navigation by distance correlated with sensitivity to the shape of the environment in the reorientation task, whereas map-based navigation by angle correlated with sensitivity to the shapes of 2D forms and patterns in the deviant detection task. These findings suggest links between one uniquely human, emerging symbolic ability, geometric map use, and two core systems of geometry.

The hippocampus is not a geometric module: processing environment geometry during reorientation

The hippocampus has long been known to play a role in allocentric spatial coding, but its specific involvement in reorientation, or the recalibration of a disrupted egocentric spatial representation using allocentric spatial information, has received less attention. Initially, the cognitive literature on reorientation focused on a “geometric module” sensitive to the shape formed by extended surfaces in the environment, and the neuroscience literature followed with proposals that particular MTL regions might be the seat of such a module. However, with behavioral evidence mounting that a modular cognitive architecture is unlikely, recent work has begun to directly address the issue of the neural underpinnings of reorientation. In this review, we describe the reorientation paradigm, initial proposals for the role of the MTL when people reorient, our recent work on the neural bases of reorientation, and finally, how this new information regarding neural mechanism helps to re-interpret and clarify the original behavioral reorientation data.

25 years of research on the use of geometry in spatial reorientation: a current theoretical perspective

The purpose of this article is to review and evaluate the range of theories proposed to explain findings on the use of geometry in reorientation. We consider five key approaches and models associated with them and, in the course of reviewing each approach, five key issues. First, we take up modularity theory itself, as recently revised by Lee and Spelke (Cognitive Psychology, 61, 152-176, 2010a; Experimental Brain Research, 206, 179-188, 2010b). In this context, we discuss issues concerning the basic distinction between geometry and features. Second, we review the view-matching approach (Stürzl, Cheung, Cheng, & Zeil, Journal of Experimental Psychology: Animal Behavior Processes, 34, 1-14, 2008). In this context, we highlight the possibility of cross-species differences, as well as commonalities. Third, we review an associative theory (Miller & Shettleworth, Journal of Experimental Psychology: Animal Behavior Processes, 33, 191-212, 2007; Journal of Experimental Psychology: Animal Behavior Processes, 34, 419-422, 2008). In this context, we focus on phenomena of cue competition. Fourth, we take up adaptive combination theory (Newcombe & Huttenlocher, 2006). In this context, we focus on discussing development and the effects of experience. Fifth, we examine various neurally based approaches, including frameworks proposed by Doeller and Burgess (Proceedings of the National Academy of Sciences of the United States of America, 105, 5909-5914, 2008; Doeller, King, & Burgess, Proceedings of the National Academy of Sciences of the United States of America, 105, 5915-5920, 2008) and by Sheynikhovich, Chavarriaga, Strösslin, Arleo, and Gerstner (Psychological Review, 116, 540-566, 2009). In this context, we examine the issue of the neural substrates of spatial navigation. We conclude that none of these approaches can account for all of the known phenomena concerning the use of geometry in reorientation and clarify what the challenges are for each approach.

Mice use start point orientation to solve spatial problems in a water T-maze

Behavioral work has demonstrated that rats solve many spatial problems using a conditional strategy based on orientation at the start point. The present study assessed whether mice use a similar strategy and whether the strategy would be affected by the poorer directional sensitivity of mice. In Experiment 1, mice were trained on a response, a direction or one of two place problems to locate a hidden platform in a water T-maze located in two positions. In the response task, mice made a right (or left) turn from two different start points located 180° apart. In the direction task, the maze was shifted (to the left or right) and the start points rotated by 180° across trials, but the platform was in a constant direction relative to room cues. In the translation place task, the mice were trained to locate the platform in a fixed location relative to extra-maze cues when the maze was shifted across trials, but the orientation of the start arm did not change. In the rotation place task, the mice were trained to locate the platform in a fixed location when the maze was shifted and the start points rotated by 90° across trials. As previously reported with rats, mice had difficulty solving the translation place problem compared with the other three problems. Unlike rats, mice learned the direction problem in significantly fewer trials than the rotation problem. This difference between acquisition of the direction and rotation problems was replicated in Experiment 2. The difficulty mice have in discriminating start point orientations that are 90° apart as opposed to 180° apart can be attributed to the broader firing ranges of HD cells in mice compared with rats.

Shape shifting: Local landmarks interfere with navigation by, and recognition of, global shape

An influential theory of spatial navigation states that the boundary shape of an environment is preferentially encoded over and above other spatial cues, such that it is impervious to interference from alternative sources of information. We explored this claim with 3 intradimensional-extradimensional shift experiments, designed to examine the interaction of landmark and geometric features of the environment in a virtual navigation task. In Experiments 1 and 2, participants were first required to find a hidden goal using information provided by the shape of the arena or landmarks integrated into the arena boundary (Experiment 1) or within the arena itself (Experiment 2). Participants were then transferred to a different-shaped arena that contained novel landmarks and were again required to find a hidden goal. In both experiments, participants who were navigating on the basis of cues that were from the same dimension that was previously relevant (intradimensional shift) learned to find the goal significantly faster than participants who were navigating on the basis of cues that were from a dimension that was previously irrelevant (extradimensional shift). This suggests that shape information does not hold special status when learning about an environment. Experiment 3 replicated Experiment 2 and also assessed participants' recognition of the global shape of the navigated arenas. Recognition was attenuated when landmarks were relevant to navigation throughout the experiment. The results of these experiments are discussed in terms of associative and non-associative theories of spatial learning.

Reorienting in virtual 3D environments: do adult humans use principal axes, medial axes or local geometry?

Studies have shown that animals, including humans, use the geometric properties of environments to orient. It has been proposed that orientation is accomplished primarily by encoding the principal axes (i.e., global geometry) of an environment. However, recent research has shown that animals use local information such as wall length and corner angles as well as local shape parameters (i.e., medial axes) to orient. The goal of the current study was to determine whether adult humans reorient according to global geometry based on principal axes or whether reliance is on local geometry such as wall length and sense information or medial axes. Using a virtual environment task, participants were trained to select a response box located at one of two geometrically identical corners within a featureless rectangular-shaped environment. Participants were subsequently tested in a transformed L-shaped environment that allowed for a dissociation of strategies based on principal axes, medial axes and local geometry. Results showed that participants relied primarily on a medial axes strategy to reorient in the L-shaped test environment. Importantly, the search behaviour of participants could not be explained by a principal axes-based strategy.

Asymmetry in the discrimination of length during spatial learning

The ability of rats to solve a discrimination between two objects that differ in length was investigated in five experiments. Using a rectangular swimming pool, Experiment 1 revealed it is easier to locate a submerged platform when it is near the center of a long rather than a short wall. For Experiments 2-4, the objects were black or white panels pasted onto the gray walls of a square pool, with two long panels pasted to two opposing walls and two short panels pasted to the remaining walls. The platform was easier to locate when it was placed near the middle of a long rather than a short panel. This effect was found when the long panels were twice (Experiments 2-4) or four times the length of the short panels (Experiment 4). Experiment 5 demonstrated that rats can solve a discrimination between panels of length 15 and 45 cm more readily than when they are 70 and 100 cm. The results are consistent with the claim that generalization gradients based on stimulus magnitude are steeper for stimuli that are weaker rather than stronger than the stimulus used for the original training.

Modelling human visual navigation using multi-view scene reconstruction

It is often assumed that humans generate a 3D reconstruction of the environment, either in egocentric or world-based coordinates, but the steps involved are unknown. Here, we propose two reconstruction-based models, evaluated using data from two tasks in immersive virtual reality. We model the observer's prediction of landmark location based on standard photogrammetric methods and then combine location predictions to compute likelihood maps of navigation behaviour. In one model, each scene point is treated independently in the reconstruction; in the other, the pertinent variable is the spatial relationship between pairs of points. Participants viewed a simple environment from one location, were transported (virtually) to another part of the scene and were asked to navigate back. Error distributions varied substantially with changes in scene layout; we compared these directly with the likelihood maps to quantify the success of the models. We also measured error distributions when participants manipulated the location of a landmark to match the preceding interval, providing a direct test of the landmark-location stage of the navigation models. Models such as this, which start with scenes and end with a probabilistic prediction of behaviour, are likely to be increasingly useful for understanding 3D vision.

The depth of the honeybee's backup sun-compass systems

Honeybees have at least three compass mechanisms: a magnetic compass; a celestial or sun compass, based on the daily rotation of the sun and sun-linked skylight patterns; and a backup celestial compass based on a memory of the sun's movements over time in relation to the landscape. The interactions of these compass systems have yet to be fully elucidated, but the celestial compass is primary in most contexts, the magnetic compass is a backup in certain contexts, and the bees' memory of the sun's course in relation to the landscape is a backup system for cloudy days. Here we ask whether bees have any further compass systems, for example a memory of the sun's movements over time in relation to the magnetic field. To test this, we challenged bees to locate the sun when their known celestial compass systems were unavailable, that is, under overcast skies in unfamiliar landscapes. We measured the bees' knowledge of the sun's location by observing their waggle dances, by which foragers indicate the directions toward food sources in relation to the sun's compass bearing. We found that bees have no celestial compass systems beyond those already known: under overcast skies in unfamiliar landscapes, bees attempt to use their landscape-based backup system to locate the sun, matching the landscapes or skylines at the test sites with those at their natal sites as best they can, even if the matches are poor and yield weak or inconsistent orientation.

Medial entorhinal grid cells and head direction cells rotate with a T-maze more often during less recently experienced rotations

Prior studies of head direction (HD) cells indicate strong landmark control over the preferred firing direction of these cells, with few studies exhibiting shifts away from local reference frames over time. We recorded spiking activity of grid and HD cells in the medial entorhinal cortex of rats, testing correlations of local environmental cues with the spatial tuning curves of these cells' firing fields as animals performed continuous spatial alternation on a T-maze that shared the boundaries of an open-field arena. The environment was rotated into configurations the animal had either seen or not seen in the past recording week. Tuning curves of both cell types demonstrated commensurate shifts of tuning with T-maze rotations during less recent rotations, more so than recent rotations. This strongly suggests that animals are shifting their reference frame away from the local environmental cues over time, learning to use a different reference frame more likely reliant on distal or idiothetic cues. In addition, grid fields demonstrated varying levels of "fragmentation" on the T-maze. The propensity for fragmentation does not depend on grid spacing and grid score, nor animal trajectory, indicating the cognitive treatment of environmental subcompartments is likely driven by task demands.

Core systems of geometry in animal minds

Research on humans from birth to maturity converges with research on diverse animals to reveal foundational cognitive systems in human and animal minds. The present article focuses on two such systems of geometry. One system represents places in the navigable environment by recording the distance and direction of the navigator from surrounding, extended surfaces. The other system represents objects by detecting the shapes of small-scale forms. These two systems show common signatures across animals, suggesting that they evolved in distant ancestral species. As children master symbolic systems such as maps and language, they come productively to combine representations from the two core systems of geometry in uniquely human ways; these combinations may give rise to abstract geometric intuitions. Studies of the ontogenetic and phylogenetic sources of abstract geometry therefore are illuminating of both human and animal cognition. Research on animals brings simpler model systems and richer empirical methods to bear on the analysis of abstract concepts in human minds. In return, research on humans, relating core cognitive capacities to symbolic abilities, sheds light on the content of representations in animal minds.

Spontaneous reorientation is guided by perceived surface distance, not by image matching or comparison

Humans and animals recover their sense of position and orientation using properties of the surface layout, but the processes underlying this ability are disputed. Although behavioral and neurophysiological experiments on animals long have suggested that reorientation depends on representations of surface distance, recent experiments on young children join experimental studies and computational models of animal navigation to suggest that reorientation depends either on processing of any continuous perceptual variables or on matching of 2D, depthless images of the landscape. We tested the surface distance hypothesis against these alternatives through studies of children, using environments whose 3D shape and 2D image properties were arranged to enhance or cancel impressions of depth. In the absence of training, children reoriented by subtle differences in perceived surface distance under conditions that challenge current models of 2D-image matching or comparison processes. We provide evidence that children's spontaneous navigation depends on representations of 3D layout geometry.

View-based matching can be more than image matching: The importance of considering an animal's perspective

Using vision for navigation is important for many animals and a common debate is the extent to which spatial performance can be explained by "simple" view-based matching strategies. We discuss, in the context of recent work, how confusion between image-matching algorithms and the broader class of view-based navigation strategies, is hindering the debate around the use of vision in spatial cognition. A proper consideration of view-based matching strategies requires an understanding of the visual information available to a given animal within a particular experiment.

Maintaining a cognitive map in darkness: the need to fuse boundary knowledge with path integration

Spatial navigation requires the processing of complex, disparate and often ambiguous sensory data. The neurocomputations underpinning this vital ability remain poorly understood. Controversy remains as to whether multimodal sensory information must be combined into a unified representation, consistent with Tolman's “cognitive map”, or whether differential activation of independent navigation modules suffice to explain observed navigation behaviour. Here we demonstrate that key neural correlates of spatial navigation in darkness cannot be explained if the path integration system acted independently of boundary (landmark) information. In vivo recordings demonstrate that the rodent head direction (HD) system becomes unstable within three minutes without vision. In contrast, rodents maintain stable place fields and grid fields for over half an hour without vision. Using a simple HD error model, we show analytically that idiothetic path integration (iPI) alone cannot be used to maintain any stable place representation beyond two to three minutes. We then use a measure of place stability based on information theoretic principles to prove that featureless boundaries alone cannot be used to improve localization above chance level. Having shown that neither iPI nor boundaries alone are sufficient, we then address the question of whether their combination is sufficient and – we conjecture – necessary to maintain place stability for prolonged periods without vision. We addressed this question in simulations and robot experiments using a navigation model comprising of a particle filter and boundary map. The model replicates published experimental results on place field and grid field stability without vision, and makes testable predictions including place field splitting and grid field rescaling if the true arena geometry differs from the acquired boundary map. We discuss our findings in light of current theories of animal navigation and neuronal computation, and elaborate on their implications and significance for the design, analysis and interpretation of experiments.

Do animals need “cognitive maps“? One of the main difficulties in answering this question is finding a definitive scenario where having and not having a “cognitive map“ result in measurably different outcomes. Many key predictions made by models involving some sort of “cognitive map“ can also be replicated by models without a “cognitive map“. Here we consider published data on rodents navigating in darkness inside homogeneous arenas. The head direction system becomes unstable within three minutes in darkness, yet place and grid cells have been reported to fire in the same locations for thirty minutes or longer. We show firstly that it is theoretically implausible for path integration alone to maintain a stable positional representation beyond three minutes, given a drifting head direction system in darkness. Secondly, we prove that even assuming perfect boundary knowledge is insufficient to maintain a stable positional representation. Finally, we show in simulated and real arenas that a nearoptimal combination of path integration and boundary representation is sufficient to produce stable positional representations in darkness consistent with published data. The necessity for fusing path integration and landmark information for accurate localization in darkness is both consistent with, and motivates the existence of, “cognitive maps.“

Spatial reorientation by geometry in bumblebees

Human and non-human animals are capable of using basic geometric information to reorient in an environment. Geometric information includes metric properties associated with spatial surfaces (e.g., short vs. long wall) and left-right directionality or 'sense' (e.g. a long wall to the left of a short wall). However, it remains unclear whether geometric information is encoded by explicitly computing the layout of surface geometry or by matching images of the environment. View-based spatial encoding is generally thought to hold for insect navigation and, very recently, evidence for navigation by geometry has been reported in ants but only in a condition which does not allow the animals to use features located far from the goal. In this study we tested the spatial reorientation abilities of bumblebees (Bombus terrestris). After spatial disorientation, by passive rotation both clockwise and anticlockwise, bumblebees had to find one of the four exit holes located in the corners of a rectangular enclosure. Bumblebees systematically confused geometrically equivalent exit corners (i.e. corners with the same geometric arrangement of metric properties and sense, for example a short wall to the left of a long wall). However, when one wall of the enclosure was a different colour, bumblebees appeared to combine this featural information (either near or far from the goal) with geometric information to find the correct exit corner. Our results show that bumblebees are able to use both geometric and featural information to reorient themselves, even when features are located far from the goal.

Navigation as a source of geometric knowledge: young children's use of length, angle, distance, and direction in a reorientation task

Geometry is one of the highest achievements of our species, but its foundations are obscure. Consistent with longstanding suggestions that geometrical knowledge is rooted in processes guiding navigation, the present study examines potential sources of geometrical knowledge in the navigation processes by which young children establish their sense of orientation. Past research reveals that children reorient both by the shape of the surface layout and the shapes of distinctive landmarks, but it fails to clarify what shape properties children use. The present study explores 2-year-old children's sensitivity to angle, length, distance and direction by testing disoriented children's search in a variety of fragmented rhombic and rectangular environments. Children reoriented themselves in accord with surface distances and directions, but they failed to use surface lengths or corner angles either for directional reorientation or as local landmarks. Thus, navigating children navigate by some but not all of the abstract properties captured by formal Euclidean geometry. While navigation systems may contribute to children's developing geometric understanding, they likely are not the sole source of abstract geometric intuitions.