A non-spatial account of place and grid cells based on clustering models of concept learning

Differential relational memory impairment in temporal lobe epilepsy

OBJECTIVE

Temporal lobe epilepsy (TLE) is typically associated with pathology of the hippocampus, a key structure involved in relational memory, including episodic, semantic, and spatial memory processes. While it is widely accepted that TLE-associated hippocampal alterations underlie memory deficits, it remains unclear whether impairments relate to a specific cognitive domain or multiple ones.

METHODS

We administered a recently validated task paradigm to evaluate episodic, semantic, and spatial memory in 24 pharmacoresistant TLE patients and 50 age- and sex-matched healthy controls. We carried out two-way analyses of variance to identify memory deficits in individuals with TLE relative to controls across different relational memory domains, and used partial least squares correlation to identify factors contributing to variations in relational memory performance across both cohorts.

RESULTS

Compared to controls, TLE patients showed marked impairments in episodic and spatial memory, with mixed findings in semantic memory. Even when additionally controlling for age, sex, and overall cognitive function, between-group differences persisted along episodic and spatial domains. Moreover, age, diagnostic group, and hippocampal volume were all associated with relational memory behavioral phenotypes.

SIGNIFICANCE

Our behavioral findings show graded deficits across relational memory domains in people with TLE, which provides further insights into the complex pattern of cognitive impairment in the condition.

Disrupting dorsal hippocampus impairs category learning in rats

Categorization requires a balance of mechanisms that can generalize across common features and discriminate against specific details. A growing literature suggests that the hippocampus may accomplish these mechanisms by using fundamental mechanisms like pattern separation, pattern completion, and memory integration. Here, we assessed the role of the rodent dorsal hippocampus (HPC) in category learning by combining inhibitory DREADDs (Designer Receptors Exclusively Activated by Designer Drugs) and simulations using a neural network model. Using touchscreens, we trained rats to categorize distributions of visual stimuli containing black and white gratings that varied along two continuous dimensions. Inactivating the dorsal HPC impaired category learning and generalization, suggesting that the rodent HPC plays an important role during categorization. Hippocampal inactivation had no effect on a control discrimination task that used identical trial procedures as the categorization tasks, suggesting that the impairments were specific to categorization. Model simulations were conducted with variants of a neural network to assess the impact of selective deficits on category learning. The hippocampal inactivation groups were best explained by a model that injected random noise into the computation that compared the similarity between category stimuli and existing memory representations. This model is akin to a deficit in mechanisms of pattern completion, which retrieves similar memory representations using partial information.

A multilevel account of hippocampal function in spatial and concept learning: Bridging models of behavior and neural assemblies

A complete neuroscience requires multilevel theories that address phenomena ranging from higher-level cognitive behaviors to activities within a cell. We propose an extension to the level of mechanism approach where a computational model of cognition sits in between behavior and brain: It explains the higher-level behavior and can be decomposed into lower-level component mechanisms to provide a richer understanding of the system than any level alone. Toward this end, we decomposed a cognitive model into neuron-like units using a neural flocking approach that parallels recurrent hippocampal activity. Neural flocking coordinates units that collectively form higher-level mental constructs. The decomposed model suggested how brain-scale neural populations coordinate to form assemblies encoding concept and spatial representations and why so many neurons are needed for robust performance at the cognitive level. This multilevel explanation provides a way to understand how cognition and symbol-like representations are supported by coordinated neural populations (assemblies) formed through learning.

ROSE: A Neurocomputational Architecture for Syntax

A comprehensive model of natural language processing in the brain must accommodate four components: representations, operations, structures and encoding. It further requires a principled account of how these different components mechanistically, and causally, relate to each another. While previous models have isolated regions of interest for structure-building and lexical access, and have utilized specific neural recording measures to expose possible signatures of syntax, many gaps remain with respect to bridging distinct scales of analysis that map onto these four components. By expanding existing accounts of how neural oscillations can index various linguistic processes, this article proposes a neurocomputational architecture for syntax, termed the ROSE model (Representation, Operation, Structure, Encoding). Under ROSE, the basic data structures of syntax are atomic features, types of mental representations (R), and are coded at the single-unit and ensemble level. Elementary computations (O) that transform these units into manipulable objects accessible to subsequent structure-building levels are coded via high frequency broadband γ activity. Low frequency synchronization and cross-frequency coupling code for recursive categorial inferences (S). Distinct forms of low frequency coupling and phase-amplitude coupling (δ-θ coupling via pSTS-IFG; θ-γ coupling via IFG to conceptual hubs in lateral and ventral temporal cortex) then encode these structures onto distinct workspaces (E). Causally connecting R to O is spike-phase/LFP coupling; connecting O to S is phase-amplitude coupling; connecting S to E is a system of frontotemporal traveling oscillations; connecting E back to lower levels is low-frequency phase resetting of spike-LFP coupling. This compositional neural code has important implications for algorithmic accounts, since it makes concrete predictions for the appropriate level of study for psycholinguistic parsing models. ROSE is reliant on neurophysiologically plausible mechanisms, is supported at all four levels by a range of recent empirical research, and provides an anatomically precise and falsifiable grounding for the basic property of natural language syntax: hierarchical, recursive structure-building.

Spatial uncertainty and environmental geometry in navigation

Variations in the geometry of the environment, such as the shape and size of an enclosure, have profound effects on navigational behavior and its neural underpinning. Here, we show that these effects arise as a consequence of a single, unifying principle: to navigate efficiently, the brain must maintain and update the uncertainty about one's location. We developed an image-computable Bayesian ideal observer model of navigation, continually combining noisy visual and self-motion inputs, and a neural encoding model optimized to represent the location uncertainty computed by the ideal observer. Through mathematical analysis and numerical simulations, we show that the ideal observer accounts for a diverse range of sometimes paradoxical distortions of human homing behavior in anisotropic and deformed environments, including 'boundary tethering', and its neural encoding accounts for distortions of rodent grid cell responses under identical environmental manipulations. Our results demonstrate that spatial uncertainty plays a key role in navigation.

Excitatory-inhibitory recurrent dynamics produce robust visual grids and stable attractors

Spatially modulated grid cells have been recently found in the rat secondary visual cortex (V2) during active navigation. However, the computational mechanism and functional significance of V2 grid cells remain unknown. To address the knowledge gap, we train a biologically inspired excitatory-inhibitory recurrent neural network to perform a two-dimensional spatial navigation task with multisensory input. We find grid-like responses in both excitatory and inhibitory RNN units, which are robust with respect to spatial cues, dimensionality of visual input, and activation function. Population responses reveal a low-dimensional, torus-like manifold and attractor. We find a link between functional grid clusters with similar receptive fields and structured excitatory-to-excitatory connections. Additionally, multistable torus-like attractors emerged with increasing sparsity in inter- and intra-subnetwork connectivity. Finally, irregular grid patterns are found in recurrent neural network (RNN) units during a visual sequence recognition task. Together, our results suggest common computational mechanisms of V2 grid cells for spatial and non-spatial tasks.

Structure learning enhances concept formation in synthetic Active Inference agents

Humans display astonishing skill in learning about the environment in which they operate. They assimilate a rich set of affordances and interrelations among different elements in particular contexts, and form flexible abstractions (i.e., concepts) that can be generalised and leveraged with ease. To capture these abilities, we present a deep hierarchical Active Inference model of goal-directed behaviour, and the accompanying belief update schemes implied by maximising model evidence. Using simulations, we elucidate the potential mechanisms that underlie and influence concept learning in a spatial foraging task. We show that the representations formed–as a result of foraging–reflect environmental structure in a way that is enhanced and nuanced by Bayesian model reduction, a special case of structure learning that typifies learning in the absence of new evidence. Synthetic agents learn associations and form concepts about environmental context and configuration as a result of inferential, parametric learning, and structure learning processes–three processes that can produce a diversity of beliefs and belief structures. Furthermore, the ensuing representations reflect symmetries for environments with identical configurations.

Generalized Simultaneous Localization and Mapping (G-SLAM) as unification framework for natural and artificial intelligences: towards reverse engineering the hippocampal/entorhinal system and principles of high-level cognition

Simultaneous localization and mapping (SLAM) represents a fundamental problem for autonomous embodied systems, for which the hippocampal/entorhinal system (H/E-S) has been optimized over the course of evolution. We have developed a biologically-inspired SLAM architecture based on latent variable generative modeling within the Free Energy Principle and Active Inference (FEP-AI) framework, which affords flexible navigation and planning in mobile robots. We have primarily focused on attempting to reverse engineer H/E-S "design" properties, but here we consider ways in which SLAM principles from robotics may help us better understand nervous systems and emergent minds. After reviewing LatentSLAM and notable features of this control architecture, we consider how the H/E-S may realize these functional properties not only for physical navigation, but also with respect to high-level cognition understood as generalized simultaneous localization and mapping (G-SLAM). We focus on loop-closure, graph-relaxation, and node duplication as particularly impactful architectural features, suggesting these computational phenomena may contribute to understanding cognitive insight (as proto-causal-inference), accommodation (as integration into existing schemas), and assimilation (as category formation). All these operations can similarly be describable in terms of structure/category learning on multiple levels of abstraction. However, here we adopt an ecological rationality perspective, framing H/E-S functions as orchestrating SLAM processes within both concrete and abstract hypothesis spaces. In this navigation/search process, adaptive cognitive equilibration between assimilation and accommodation involves balancing tradeoffs between exploration and exploitation; this dynamic equilibrium may be near optimally realized in FEP-AI, wherein control systems governed by expected free energy objective functions naturally balance model simplicity and accuracy. With respect to structure learning, such a balance would involve constructing models and categories that are neither too inclusive nor exclusive. We propose these (generalized) SLAM phenomena may represent some of the most impactful sources of variation in cognition both within and between individuals, suggesting that modulators of H/E-S functioning may potentially illuminate their adaptive significances as fundamental cybernetic control parameters. Finally, we discuss how understanding H/E-S contributions to G-SLAM may provide a unifying framework for high-level cognition and its potential realization in artificial intelligences.

Sleep targets highly connected global and local nodes to aid consolidation of learned graph networks

Much of our long-term knowledge is organised in complex networks. Sleep is thought to be critical for abstracting knowledge and enhancing important item memory for long-term retention. Thus, sleep should aid the development of memory for networks and the abstraction of their structure for efficient storage. However, this remains unknown because past sleep studies have focused on discrete items. Here we explored the impact of sleep (night-sleep/day-wake within-subject paradigm with 25 male participants) on memory for graph-networks where some items were important due to dense local connections (degree centrality) or, independently, important due to greater global connections (closeness/betweenness centrality). A network of 27 planets (nodes) sparsely interconnected by 36 teleporters (edges) was learned via discrete associations without explicit indication of any network structure. Despite equivalent exposure to all connections in the network, we found that memory for the links between items with high local connectivity or high global connectivity were better retained after sleep. These results highlight that sleep has the capacity for strengthening both global and local structure from the world and abstracting over multiple experiences to efficiently form internal networks of knowledge.

The hippocampal formation as a hierarchical generative model supporting generative replay and continual learning

We advance a novel computational theory of the hippocampal formation as a hierarchical generative model that organizes sequential experiences, such as rodent trajectories during spatial navigation, into coherent spatiotemporal contexts. We propose that the hippocampal generative model is endowed with inductive biases to identify individual items of experience (first hierarchical layer), organize them into sequences (second layer) and cluster them into maps (third layer). This theory entails a novel characterization of hippocampal reactivations as generative replay: the offline resampling of fictive sequences from the generative model, which supports the continual learning of multiple sequential experiences. We show that the model learns and efficiently retains multiple spatial navigation trajectories, by organizing them into spatial maps. Furthermore, the model reproduces flexible and prospective aspects of hippocampal dynamics that are challenging to explain within existing frameworks. This theory reconciles multiple roles of the hippocampal formation in map-based navigation, episodic memory and imagination.

Are Grid-Like Representations a Component of All Perception and Cognition?

Grid cells or grid-like responses have been reported in the rodent, bat and human brains during various spatial and non-spatial tasks. However, the functions of grid-like representations beyond the classical hippocampal formation remain elusive. Based on accumulating evidence from recent rodent recordings and human fMRI data, we make speculative accounts regarding the mechanisms and functional significance of the sensory cortical grid cells and further make theory-driven predictions. We argue and reason the rationale why grid responses may be universal in the brain for a wide range of perceptual and cognitive tasks that involve locomotion and mental navigation. Computational modeling may provide an alternative and complementary means to investigate the grid code or grid-like map. We hope that the new discussion will lead to experimentally testable hypotheses and drive future experimental data collection.

Prelimbic cortex maintains attention to category-relevant information and flexibly updates category representations

Category learning groups stimuli according to similarity or function. This involves finding and attending to stimulus features that reliably inform category membership. Although many of the neural mechanisms underlying categorization remain elusive, models of human category learning posit that prefrontal cortex plays a substantial role. Here, we investigated the role of the prelimbic cortex (PL) in rat visual category learning by administering excitotoxic lesions before category training and then evaluating the effects of the lesions with computational modeling. Using a touchscreen apparatus, rats (female and male) learned to categorize distributions of category stimuli that varied along two continuous dimensions. For some rats, categorizing the stimuli encouraged selective attention towards a single stimulus dimension (i.e., 1D tasks). For other rats, categorizing the stimuli required divided attention towards both stimulus dimensions (i.e., 2D tasks). Testing sessions then examined generalization to novel exemplars. PL lesions impaired learning and generalization for the 1D tasks, but not the 2D tasks. Then, a neural network was fit to the behavioral data to examine how the lesions affected categorization. The results suggest that the PL facilitates category learning by maintaining attention to category-relevant information and updating category representations.

Cognitive maps of social features enable flexible inference in social networks

In order to navigate a complex web of relationships, an individual must learn and represent the connections between people in a social network. However, the sheer size and complexity of the social world makes it impossible to acquire firsthand knowledge of all relations within a network, suggesting that people must make inferences about unobserved relationships to fill in the gaps. Across three studies (n = 328), we show that people can encode information about social features (e.g., hobbies, clubs) and subsequently deploy this knowledge to infer the existence of unobserved friendships in the network. Using computational models, we test various feature-based mechanisms that could support such inferences. We find that people's ability to successfully generalize depends on two representational strategies: a simple but inflexible similarity heuristic that leverages homophily, and a complex but flexible cognitive map that encodes the statistical relationships between social features and friendships. Together, our studies reveal that people can build cognitive maps encoding arbitrary patterns of latent relations in many abstract feature spaces, allowing social networks to be represented in a flexible format. Moreover, these findings shed light on open questions across disciplines about how people learn and represent social networks and may have implications for generating more human-like link prediction in machine learning algorithms.

How do we generalize?

Humans and animals are able to generalize or transfer information from previous experience so that they can behave appropriately in novel situations. What mechanisms-computations, representations, and neural systems-give rise to this remarkable ability? The members of this Generative Adversarial Collaboration (GAC) come from a range of academic backgrounds but are all interested in uncovering the mechanisms of generalization. We started out this GAC with the aim of arbitrating between two alternative conceptual accounts: (1) generalization stems from integration of multiple experiences into summary representations that reflect generalized knowledge, and (2) generalization is computed on-the-fly using separately stored individual memories. Across the course of this collaboration, we found that-despite using different terminology and techniques, and although some of our specific papers may provide evidence one way or the other-we in fact largely agree that both of these broad accounts (as well as several others) are likely valid. We believe that future research and theoretical synthesis across multiple lines of research is necessary to help determine the degree to which different candidate generalization mechanisms may operate simultaneously, operate on different scales, or be employed under distinct conditions. Here, as the first step, we introduce some of these candidate mechanisms and we discuss the issues currently hindering better synthesis of generalization research. Finally, we introduce some of our own research questions that have arisen over the course of this GAC, that we believe would benefit from future collaborative efforts.

The grid code for ordered experience

Entorhinal cortical grid cells fire in a periodic pattern that tiles space, which is suggestive of a spatial coordinate system. However, irregularities in the grid pattern as well as responses of grid cells in contexts other than spatial navigation have presented a challenge to existing models of entorhinal function. In this Perspective, we propose that hippocampal input provides a key informative drive to the grid network in both spatial and non-spatial circumstances, particularly around salient events. We build on previous models in which neural activity propagates through the entorhinal-hippocampal network in time. This temporal contiguity in network activity points to temporal order as a necessary characteristic of representations generated by the hippocampal formation. We advocate that interactions in the entorhinal-hippocampal loop build a topological representation that is rooted in the temporal order of experience. In this way, the structure of grid cell firing supports a learned topology rather than a rigid coordinate frame that is bound to measurements of the physical world.

Learning an Efficient Hippocampal Place Map from Entorhinal Inputs Using Non-Negative Sparse Coding

Cells in the entorhinal cortex (EC) contain rich spatial information and project strongly to the hippocampus where a cognitive map is supposedly created. These cells range from cells with structured spatial selectivity, such as grid cells in the medial EC (MEC) that are selective to an array of spatial locations that form a hexagonal grid, to weakly spatial cells, such as non-grid cells in the MEC and lateral EC (LEC) that contain spatial information but have no structured spatial selectivity. However, in a small environment, place cells in the hippocampus are generally selective to a single location of the environment, while granule cells in the dentate gyrus of the hippocampus have multiple discrete firing locations but lack spatial periodicity. Given the anatomic connection from the EC to the hippocampus, how the hippocampus retrieves information from upstream EC remains unclear. Here, we propose a unified learning model that can describe the spatial tuning properties of both hippocampal place cells and dentate gyrus granule cells based on non-negative sparse coding from EC inputs. Sparse coding plays an important role in many cortical areas and is proposed here to have a key role in the hippocampus. Our results show that the hexagonal patterns of MEC grid cells with various orientations, grid spacings and phases are necessary for the model to learn different place cells that efficiently tile the entire spatial environment. However, if there is a lack of diversity in any grid parameters or a lack of hippocampal cells in the network, this will lead to the emergence of hippocampal cells that have multiple firing locations. More surprisingly, the model can also learn hippocampal place cells even when weakly spatial cells, instead of grid cells, are used as the input to the hippocampus. This work suggests that sparse coding may be one of the underlying organizing principles for the navigational system of the brain.

Clone-structured graph representations enable flexible learning and vicarious evaluation of cognitive maps

Cognitive maps are mental representations of spatial and conceptual relationships in an environment, and are critical for flexible behavior. To form these abstract maps, the hippocampus has to learn to separate or merge aliased observations appropriately in different contexts in a manner that enables generalization and efficient planning. Here we propose a specific higher-order graph structure, clone-structured cognitive graph (CSCG), which forms clones of an observation for different contexts as a representation that addresses these problems. CSCGs can be learned efficiently using a probabilistic sequence model that is inherently robust to uncertainty. We show that CSCGs can explain a variety of cognitive map phenomena such as discovering spatial relations from aliased sensations, transitive inference between disjoint episodes, and formation of transferable schemas. Learning different clones for different contexts explains the emergence of splitter cells observed in maze navigation and event-specific responses in lap-running experiments. Moreover, learning and inference dynamics of CSCGs offer a coherent explanation for disparate place cell remapping phenomena. By lifting aliased observations into a hidden space, CSCGs reveal latent modularity useful for hierarchical abstraction and planning. Altogether, CSCG provides a simple unifying framework for understanding hippocampal function, and could be a pathway for forming relational abstractions in artificial intelligence.

A Structure-Function Substrate of Memory for Spatial Configurations in Medial and Lateral Temporal Cortices

Prior research has shown a role of the medial temporal lobe, particularly the hippocampal-parahippocampal complex, in spatial cognition. Here, we developed a new paradigm, the conformational shift spatial task (CSST), which examines the ability to encode and retrieve spatial relations between unrelated items. This task is short, uses symbolic cues, incorporates two difficulty levels, and can be administered inside the scanner. A cohort of 48 healthy young adults underwent the CSST, together with a set of behavioral measures and multimodal magnetic resonance imaging (MRI). Inter-individual differences in CSST performance correlated with scores on an established spatial memory paradigm, but neither with episodic memory nor mnemonic discrimination, supporting specificity. Analyzing high-resolution structural MRI data, individuals with better spatial memory showed thicker medial and lateral temporal cortices. Functional relevance of these findings was supported by task-based functional MRI analysis in the same participants and ad hoc meta-analysis. Exploratory resting-state functional MRI analyses centered on clusters of morphological effects revealed additional modulation of intrinsic network integration, particularly between lateral and medial temporal structures. Our work presents a novel spatial memory paradigm and supports an integrated structure-function substrate in the human temporal lobe. Task paradigms are programmed in python and made open access.

The growth and form of knowledge networks by kinesthetic curiosity

Throughout life, we might seek a calling, companions, skills, entertainment, truth, self-knowledge, beauty, and edification. The practice of curiosity can be viewed as an extended and open-ended search for valuable information with hidden identity and location in a complex space of interconnected information. Despite its importance, curiosity has been challenging to computationally model because the practice of curiosity often flourishes without specific goals, external reward, or immediate feedback. Here, we show how network science, statistical physics, and philosophy can be integrated into an approach that coheres with and expands the psychological taxonomies of specific-diversive and perceptual-epistemic curiosity. Using this interdisciplinary approach, we distill functional modes of curious information seeking as searching movements in information space. The kinesthetic model of curiosity offers a vibrant counterpart to the deliberative predictions of model-based reinforcement learning. In doing so, this model unearths new computational opportunities for identifying what makes curiosity curious.

Similarities and differences in spatial and non-spatial cognitive maps

Learning and generalization in spatial domains is often thought to rely on a "cognitive map", representing relationships between spatial locations. Recent research suggests that this same neural machinery is also recruited for reasoning about more abstract, conceptual forms of knowledge. Yet, to what extent do spatial and conceptual reasoning share common computational principles, and what are the implications for behavior? Using a within-subject design we studied how participants used spatial or conceptual distances to generalize and search for correlated rewards in successive multi-armed bandit tasks. Participant behavior indicated sensitivity to both spatial and conceptual distance, and was best captured using a Bayesian model of generalization that formalized distance-dependent generalization and uncertainty-guided exploration as a Gaussian Process regression with a radial basis function kernel. The same Gaussian Process model best captured human search decisions and judgments in both domains, and could simulate realistic learning curves, where we found equivalent levels of generalization in spatial and conceptual tasks. At the same time, we also find characteristic differences between domains. Relative to the spatial domain, participants showed reduced levels of uncertainty-directed exploration and increased levels of random exploration in the conceptual domain. Participants also displayed a one-directional transfer effect, where experience in the spatial task boosted performance in the conceptual task, but not vice versa. While confidence judgments indicated that participants were sensitive to the uncertainty of their knowledge in both tasks, they did not or could not leverage their estimates of uncertainty to guide exploration in the conceptual task. These results support the notion that value-guided learning and generalization recruit cognitive-map dependent computational mechanisms in spatial and conceptual domains. Yet both behavioral and model-based analyses suggest domain specific differences in how these representations map onto actions.

Cartographers of the Cognitive Map: Locus Coeruleus Is Part of the Guild

Noradrenergic cells of the locus coeruleus were associated with aversive learning and arousal. In this issue of Neuron, Kaufman et al. (2020) show that they also shape the spatial map after translocation of reward.

Sequence Memory in the Hippocampal-Entorhinal Region

Episodic memories are constructed from sequences of events. When recalling such a memory, we not only recall individual events, but we also retrieve information about how the sequence of events unfolded. Here, we focus on the role of the hippocampal-entorhinal region in processing and remembering sequences of events, which are thought to be stored in relational networks. We summarize evidence that temporal relations are a central organizational principle for memories in the hippocampus. Importantly, we incorporate novel insights from recent studies about the role of the adjacent entorhinal cortex in sequence memory. In rodents, the lateral entorhinal subregion carries temporal information during ongoing behavior. The human homologue is recruited during memory recall where its representations reflect the temporal relationships between events encountered in a sequence. We further introduce the idea that the hippocampal-entorhinal region might enable temporal scaling of sequence representations. Flexible changes of sequence progression speed could underlie the traversal of episodic memories and mental simulations at different paces. In conclusion, we describe how the entorhinal cortex and hippocampus contribute to remembering event sequences-a core component of episodic memory.