Pigeon (Columba livia) encoding of a goal location: the relative importance of shape geometry and slope information

Adaptive cognitive maps for curved surfaces in the 3D world

Terrains in a 3D world can be undulating. Yet, most prior research has exclusively investigated spatial representations on a flat surface, leaving a 2D cognitive map as the dominant model in the field. Here, we investigated whether humans represent a curved surface by building a dimension-reduced flattened 2D map or a full 3D map. Participants learned the location of objects positioned on a flat and curved surface in a virtual environment by driving on the concave side of the surface (Experiment 1), driving and looking vertically (Experiment 2), or flying (Experiment 3). Subsequently, they were asked to retrieve either the path distance or the 3D Euclidean distance between the objects. Path distance estimation was good overall, but we found a significant underestimation bias for the path distance on the curve, suggesting an influence of potential 3D shortcuts, even though participants were only driving on the surface. Euclidean distance estimation was better when participants were exposed more to the global 3D structure of the environment by looking and flying. These results suggest that the representation of the 2D manifold, embedded in a 3D world, is neither purely 2D nor 3D. Rather, it is flexible and dependent on the behavioral experience and demand.

For humans navigating without vision, navigation depends upon the layout of mechanically contacted ground surfaces

Navigation can be haptically guided. In specific, tissue deformations arising from both limb motions during locomotion (i.e., gait patterns) and mechanical interactions between the limbs and the environment can convey information, detected by the haptic perceptual system, about how the body is moving relative to the environment. Here, we test hypotheses concerning the properties of mechanically contacted environments relevant to navigation of this kind. We studied blindfolded participants implicitly learning to perceive their location within environments that were physically encountered via walking on, stepping on, and probing ground surfaces with a cane. Environments were straight-line paths with elevated sections where the path either narrowed or remained the same width. We formed hypotheses concerning how these two environments would affect spatial updating and reorientation processes. In the constant pathwidth environment, homing task accuracy was higher and a manipulation of the elevated surface, to be either unchanged or (unbeknown to participants) shortened, biased the performance. This was consistent with our hypothesis of a metric recalibration scaled to elevated surface extent. In the narrowing pathwidth environment, elevated surface shortening did not bias performance. This supported our hypothesis of positional recalibration resulting from contact with the leading edge of the elevated surface. We discuss why certain environmental properties, such as path-narrowing, have significance for how one becomes implicitly oriented the surrounding environment.

On the transfer of spatial learning between geometrically different shaped environments in the terrestrial toad, Rhinella arenarum

When trained in a rectangular arena, some research has suggested that rats are guided by local features rather than overall boundary geometry. We explored this hypothesis using the terrestrial toad, Rhinella arenarum, as a comparative contrast. In two experiments, toads were trained to find a water-reward goal location in either a featureless rectangular arena (Experiment 1) or in a rectangular arena with a removable colored feature panel covering one short wall (Experiment 2). After learning to successfully locate the water reward, probe trials were carried out by changing the shape of the arena into a kite form with two 90°-angled corners, and in the case of Experiment 2, also shifting the location of the color panel. The results of Experiment 1 indicated that the toads, in contrast to rats, relied primarily on overall shape or boundary geometry to encode the location of a goal. Under the probe conditions of the altered environmental geometry in Experiment 2, the toads seemed to preferentially choose a corner that was generally correct relative to the feature panel experienced during training. Together, the data of the current study suggest that toads and rats differ in the strategies they employ to represent spatial information available in a rectangular arena. Further, the results support the hypothesis that amphibians and mammals engage different neural mechanisms, perhaps related to different evolutionary selective pressures, for the representation of environmental geometry used for navigation.

Comparative spatial memory and cue use: The contributions of Marcia L. Spetch to the study of small-scale spatial cognition

Dr. Marcia Spetch is a Canadian experimental psychologist who specializes in the study of comparative cognition. Her research over the past four decades has covered many diverse topics, but focused primarily on the comparative study of small-scale spatial cognition, navigation, decision making, and risky choice. Over the course of her career Dr. Spetch has had a profound influence on the study of these topics, and for her work she was named a Fellow of the Association for Psychological Science in 2012, and a Fellow of the Royal Society of Canada in 2017. In this review, I provide a biographical sketch of Dr. Spetch's academic career, and revisit her contributions to the study of small-scale spatial cognition in two broad areas: the use of environmental geometric cues, and how animals cope with cue conflict. The goal of this review is to highlight the contributions of Dr. Spetch, her students, and her collaborators to the field of comparative cognition and the study of small-scale spatial cognition. As such, this review stands to serve as a tribute and testament to Dr. Spetch's scientific legacy.

Spatial reorientation with non-visual cues: Failure to spontaneously use auditory information

Among the environmental stimuli that can guide navigation in space, most attention has been dedicated to visual information. The process of determining where you are and which direction you are facing (called reorientation) has been extensively examined by providing the navigator with two sources of information—typically the shape of the environment and its features—with an interest in the extent to which they are used. Similar questions with non-visual cues are lacking. Here, blindfolded sighted participants had to learn the location of a target in a real-world, circular search space. In Experiment 1, two ecologically relevant non-visual cues were provided: the slope of the floor and an array of two identical auditory landmarks. Slope successfully guided behaviour, suggesting that proprioceptive/kinesthetic access is sufficient to navigate on a slanted environment. However, despite the fact that participants could localise the auditory sources, this information was not encoded. In Experiment 2, the auditory cue was made more useful for the task because it had greater predictive value and there were no competing spatial cues. Nonetheless, again, the auditory landmark was not encoded. Finally, in Experiment 3, after being prompted, participants were able to reorient by using the auditory landmark. Overall, participants failed to spontaneously rely on the auditory cue, regardless of how informative it was.

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.

Look up: Human adults use vertical height cues in reorientation

Numerous studies have shown that people and other animals readily use horizontal geometry (distance and directional information) to reorient, and these cues sometimes dominate over other cues when reorienting in navigable environments. Our study investigated whether horizontal cues (distance/angle) dominate over vertical cues (wall height) when they are in conflict. Adult participants learned two locations (opposite corners) in either a rectangular room (with distance information) or a rhombus room (with angle information). Both training rooms had 2 opposite high walls as height cues. On each trial, participants were disoriented and then asked to locate the correct corners. In testing, the rooms were modified to provide (a) distance or angle cues only, (b) height cues only, and (c) both height and horizontal cues in conflict. Participants located the correct corners successfully with horizontal (distance/angle) or height cues alone. On conflict tests, participants did not show preference for the horizontal information (distance/angle) over the height cues. The results are discussed in terms of the geometric module theory and the adaptive combination theory.

Sex differences and errors in the use of terrain slope for navigation

Unlike most of the spatial cues that have received attention, a sloping terrain can be perceived by multimodal sensory inputs (vision, balance, and kinesthesia), making it potentially very salient for navigation. Furthermore, a homogeneous slope can be used like a compass to identify directions (e.g., uphill, downhill, and sideways), but not to determine distances. We briefly review recent evidence on navigation with slope, emphasizing two main findings. On the one hand, we focus on the conspicuous sex difference found in the ability to localize a target in a square, tilted enclosure; this has emerged in human adults and children, and we suggest that it is related to lower awareness of the slope for females. On the other hand, we describe the general pattern of errors that arises when localizing the target during the task; these errors indicate the use of a bi-coordinate representation of the slope. Limitations and ideas for future studies are proposed.

Learned predictiveness training modulates biases towards using boundary or landmark cues during navigation

A number of navigational theories state that learning about landmark information should not interfere with learning about shape information provided by the boundary walls of an environment. A common test of such theories has been to assess whether landmark information will overshadow, or restrict, learning about shape information. Whilst a number of studies have shown that landmarks are not able to overshadow learning about shape information, some have shown that landmarks can, in fact, overshadow learning about shape information. Given the continued importance of theories that grant the shape information that is provided by the boundary of an environment a special status during learning, the experiments presented here were designed to assess whether the relative salience of shape and landmark information could account for the discrepant results of overshadowing studies. In Experiment 1, participants were first trained that either the landmarks within an arena (landmark-relevant), or the shape information provided by the boundary walls of an arena (shape-relevant), were relevant to finding a hidden goal. In a subsequent stage, when novel landmark and shape information were made relevant to finding the hidden goal, landmarks dominated behaviour for those given landmark-relevant training, whereas shape information dominated behaviour for those given shape-relevant training. Experiment 2, which was conducted without prior relevance training, revealed that the landmark cues, unconditionally, dominated behaviour in our task. The results of the present experiments, and the conflicting results from previous overshadowing experiments, are explained in terms of associative models that incorporate an attention variant.

Is height a core geometric cue for navigation? Young children's use of height in reorientation

With respect to reorientation, children older than 1.5 to 2 years can use geometric cues (distance and left/right sense). However, because previous studies have focused mainly on the plane geometric properties, little is known about the role of information with respect to vertical dimension in children's reorientation. The current study aimed to examine whether and how 3- and 4-year-old children use height information to search for a hidden toy when disoriented in a small enclosure. In a slant-ceiling rectangular room and a slant-ceiling square room, 4-year-olds were able to use height information to reorient and search for the toy in the correct corner, whereas 3-year-olds were not able to do so. Our results suggest that children can, at least by the age of 4 years, use height information and that height is not used as early as other geometric properties that are in the core geometry system for navigation.

Where is uphill? Exploring sex differences when reorienting on a sloped environment presented through 2-D images

One of the spatial abilities that has recently revealed a remarkable variability in performance is that of using terrain slope to reorient. Previous studies have shown a very large disadvantage for females when the slope of the floor is the only information useful for encoding a goal location. However, the source of this sex difference is still unclear. The slope of the environment provides a directional source of information that is perceived through dissociable visual and kinesthetic sensory modalities. Here we focused on the visual information, and examined whether there are sex differences in the perception of a slope presented through 2-D images with a desktop computer connected to an eye-tracking device. Participants had to identify and point to the uphill direction by looking at different orientations of two virtual, slanted environments (one indoor and one outdoor). Men were quicker and more accurate than women, indicating that the female difficulty with slope emerges at an early, unisensory, perceptual level. However, the eye-tracking data revealed no sex differences in the slope cues used, providing no support to the hypothesis of sex-specific, visual-processing strategies. Interestingly, performance correlated with a test of mental rotation, and we speculate that the disadvantage in mental rotation ability might be an important factor responsible for females' difficulty using slope.

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.

Reorienting with terrain slope and landmarks

Orientation (or reorientation) is the first step in navigation, because establishing a spatial frame of reference is essential for a sense of location and heading direction. Recent research on nonhuman animals has revealed that the vertical component of an environment provides an important source of spatial information, in both terrestrial and aquatic settings. Nonetheless, humans show large individual and sex differences in the ability to use terrain slope for reorientation. To understand why some participants--mainly women--exhibit a difficulty with slope, we tested reorientation in a richer environment than had been used previously, including both a tilted floor and a set of distinct objects that could be used as landmarks. This environment allowed for the use of two different strategies for solving the task, one based on directional cues (slope gradient) and one based on positional cues (landmarks). Overall, rather than using both cues, participants tended to focus on just one. Although men and women did not differ significantly in their encoding of or reliance on the two strategies, men showed greater confidence in solving the reorientation task. These facts suggest that one possible cause of the female difficulty with slope might be a generally lower spatial confidence during reorientation.

Three-dimensional space: locomotory style explains memory differences in rats and hummingbirds

While most animals live in a three-dimensional world, they move through it to different extents depending on their mode of locomotion: terrestrial animals move vertically less than do swimming and flying animals. As nearly everything we know about how animals learn and remember locations in space comes from two-dimensional experiments in the horizontal plane, here we determined whether the use of three-dimensional space by a terrestrial and a flying animal was correlated with memory for a rewarded location. In the cubic mazes in which we trained and tested rats and hummingbirds, rats moved more vertically than horizontally, whereas hummingbirds moved equally in the three dimensions. Consistent with their movement preferences, rats were more accurate in relocating the horizontal component of a rewarded location than they were in the vertical component. Hummingbirds, however, were more accurate in the vertical dimension than they were in the horizontal, a result that cannot be explained by their use of space. Either as a result of evolution or ontogeny, it appears that birds and rats prioritize horizontal versus vertical components differently when they remember three-dimensional space.

Up by upwest: Is slope like north?

Terrain slope can be used to encode the location of a goal. However, this directional information may be encoded using a conceptual north (i.e., invariantly with respect to the environment), or in an observer-relative fashion (i.e., varying depending on the direction one faces when learning the goal). This study examines which representation is used, whether the sensory modality in which slope is encoded (visual, kinaesthetic, or both) influences representations, and whether use of slope varies for men and women. In a square room, with a sloped floor explicitly pointed out as the only useful cue, participants encoded the corner in which a goal was hidden. Without direct sensory access to slope cues, participants used a dial to point to the goal. For each trial, the goal was hidden uphill or downhill, and the participants were informed whether they faced uphill or downhill when pointing. In support of observer-relative representations, participants pointed more accurately and quickly when facing concordantly with the hiding position. There was no effect of sensory modality, providing support for functional equivalence. Sex did not interact with the findings on modality or reference frame, but spatial measures correlated with success on the slope task differently for each sex.

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.

Making a stronger case for comparative research to investigate the behavioral and neurological bases of three-dimensional navigation

The rich diversity of avian natural history provides exciting possibilities for comparative research aimed at understanding three-dimensional navigation. We propose some hypotheses relating differences in natural history to potential behavioral and neurological adaptations possessed by contrasting bird species. This comparative approach may offer unique insights into some of the important questions raised by Jeffery et al.

Humans have precise knowledge of familiar geographical slants

Whereas maps primarily represent the 2-dimensional layout of the environment, people are also aware of the 3-dimensional layout of their environment. An experiment conducted on a small college campus tested whether the remembered slants of familiar paths were precisely represented. Three measures of slant (verbal, manual, and pictorial) were collected in 2 different between-subject conditions (perception and memory) for 5 familiar paths on the campus of Swarthmore College, ranging in slant from 0.5° to 8.6°. Estimates from memory and from perception did not differ for any of the measures. Moreover, estimates from all measures, though different in mean value, were correlated within participant, suggesting a common underlying representation was consulted in all cases.

Does terrain slope really dominate goal searching?

If you can locate a target by using one reliable source of information, why would you use an unreliable one? A similar question has been faced in a recent study on homing pigeons, in which, despite the presence of better predictors of the goal location, the slope of the floor in an arena dominated the searching process. This piece of evidence seems to contradict straightforward accounts of associative learning, according to which behavior should be controlled by the stimulus that best predicts the reward, and has fueled interest toward one question that, to date, has received scarce attention in the field of spatial cognition: how are vertical spaces represented? The purpose of this communication is to briefly review the studies on this issue, trying to determine whether slope is a special cue--driving behavior irrespective of other cues--or simply a very salient one.

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.

Three-dimensional spatial cognition: information in the vertical dimension overrides information from the horizontal

Fish live in three-dimensional environments, through which they swim with three translational and three rotational degrees of freedom. Navigating through such environments is recognised as a difficult problem, yet fish, and other animals that swim and fly, achieve this regularly. Despite this, the vast majority of research has considered how animals navigate horizontally from place to place and has ignored the vertical component. Here, we test the importance of the vertical axis of space for fish solving a three-dimensional spatial cognition task. We trained banded tetras (Astyanax fasciatus) to learn the route towards a goal in a rotating Y-maze in which the arms led either up and left or down and right in an environment that allowed access to visual landmarks providing horizontal and vertical information. Our results revealed that the landmarks increased navigational efficiency during training. However, these landmarks were ignored when the horizontal and vertical components were placed in conflict with each other by rotating the maze 90° during testing. From this surprising result, we conclude that the cues that are present in the vertical axis (presumably hydrostatic pressure) override landmark cues that have been shown to be salient in experiments that only consider the horizontal component of space.

Horizontal biases in rats' use of three-dimensional space

Rodent spatial cognition studies allow links to be made between neural and behavioural phenomena, and much is now known about the encoding and use of horizontal space. However, the real world is three dimensional, providing cognitive challenges that have yet to be explored. Motivated by neural findings suggesting weaker encoding of vertical than horizontal space, we examined whether rats show a similar behavioural anisotropy when distributing their time freely between vertical and horizontal movements. We found that in two- or three-dimensional environments with a vertical dimension, rats showed a prioritization of horizontal over vertical movements in both foraging and detour tasks. In the foraging tasks, the animals executed more horizontal than vertical movements and adopted a "layer strategy" in which food was collected from one horizontal level before moving to the next. In the detour tasks, rats preferred the routes that allowed them to execute the horizontal leg first. We suggest three possible reasons for this behavioural bias. First, as suggested by Grobety and Schenk, it allows minimisation of energy expenditure, inasmuch as costly vertical movements are minimised. Second, it may be a manifestation of the temporal discounting of effort, in which animals value delayed effort as less costly than immediate effort. Finally, it may be that at the neural level rats encode the vertical dimension less precisely, and thus prefer to bias their movements in the more accurately encoded horizontal dimension. We suggest that all three factors are related, and all play a part.

Effects of cue types on sex differences in human spatial memory

We examined the effects of cue types on human spatial memory in 3D virtual environments adapted from classical animal and human tasks. Two classes of cues of different functions were investigated: those that provide directional information, and those that provide positional information. Adding a directional cue (geographical slant) to the spatial delayed-match-to-sample task improved performance in males but not in females. When the slant directional cue was removed in a hidden-target location task, male performance was impaired but female performance was unaffected. The removal of positional cues, on the other hand, impaired female performance but not male performance. These results are consistent with results from laboratory rodents and thus support the hypothesis that sex differences in spatial memory arise from the dissociation between a preferential reliance on directional cues in males and on positional cues in females.