How to build a cognitive map

A cellular basis for mapping behavioural structure

To flexibly adapt to new situations, our brains must understand the regularities in the world, as well as those in our own patterns of behaviour. A wealth of findings is beginning to reveal the algorithms that we use to map the outside world1-6. However, the biological algorithms that map the complex structured behaviours that we compose to reach our goals remain unknown. Here we reveal a neuronal implementation of an algorithm for mapping abstract behavioural structure and transferring it to new scenarios. We trained mice on many tasks that shared a common structure (organizing a sequence of goals) but differed in the specific goal locations. The mice discovered the underlying task structure, enabling zero-shot inferences on the first trial of new tasks. The activity of most neurons in the medial frontal cortex tiled progress to goal, akin to how place cells map physical space. These 'goal-progress cells' generalized, stretching and compressing their tiling to accommodate different goal distances. By contrast, progress along the overall sequence of goals was not encoded explicitly. Instead, a subset of goal-progress cells was further tuned such that individual neurons fired with a fixed task lag from a particular behavioural step. Together, these cells acted as task-structured memory buffers, implementing an algorithm that instantaneously encoded the entire sequence of future behavioural steps, and whose dynamics automatically computed the appropriate action at each step. These dynamics mirrored the abstract task structure both on-task and during offline sleep. Our findings suggest that schemata of complex behavioural structures can be generated by sculpting progress-to-goal tuning into task-structured buffers of individual behavioural steps.

The affective gradient hypothesis: an affect-centered account of motivated behavior

Everyone agrees that feelings and actions are intertwined, but cannot agree how. According to dominant models, actions are directed by estimates of value and these values shape or are shaped by affect. I propose instead that affect is the only form of value that drives actions. Our mind constantly represents potential future states and how they would make us feel. These states collectively form a gradient reflecting feelings we could experience depending on actions we take. Motivated behavior reflects the process of traversing this affective gradient, towards desirable states and away from undesirable ones. This affective gradient hypothesis solves the puzzle of where values and goals come from, and offers a parsimonious account of apparent conflicts between emotion and cognition.

Disentangled representations for causal cognition

Complex adaptive agents consistently achieve their goals by solving problems that seem to require an understanding of causal information, information pertaining to the causal relationships that exist among elements of combined agent-environment systems. Causal cognition studies and describes the main characteristics of causal learning and reasoning in human and non-human animals, offering a conceptual framework to discuss cognitive performances based on the level of apparent causal understanding of a task. Despite the use of formal intervention-based models of causality, including causal Bayesian networks, psychological and behavioural research on causal cognition does not yet offer a computational account that operationalises how agents acquire a causal understanding of the world seemingly from scratch, i.e. without a-priori knowledge of relevant features of the environment. Research on causality in machine and reinforcement learning, especially involving disentanglement as a candidate process to build causal representations, represents on the other hand a concrete attempt at designing artificial agents that can learn about causality, shedding light on the inner workings of natural causal cognition. In this work, we connect these two areas of research to build a unifying framework for causal cognition that will offer a computational perspective on studies of animal cognition, and provide insights in the development of new algorithms for causal reinforcement learning in AI.

Representational spaces in orbitofrontal and ventromedial prefrontal cortex: task states, values, and beyond

The orbitofrontal cortex (OFC) and ventromedial-prefrontal cortex (vmPFC) play a key role in decision-making and encode task states in addition to expected value. We review evidence suggesting a connection between value and state representations and argue that OFC / vmPFC integrate stimulus, context, and outcome information. Comparable encoding principles emerge in late layers of deep reinforcement learning (RL) models, where single nodes exhibit similar forms of mixed-selectivity, which enables flexible readout of relevant variables by downstream neurons. Based on these lines of evidence, we suggest that outcome-maximization leads to complex representational spaces that are insufficiently characterized by linear value signals that have been the focus of most prior research on the topic. Major outstanding questions concern the role of OFC/ vmPFC in learning across tasks, in encoding of task-irrelevant aspects, and the role of hippocampus-PFC interactions.

Flexible Learning and Re-ordering of Context-dependent Object Sequences in Nonhuman Primates

Intelligent behavior involves mentally arranging learned information in novel ways and is particularly well developed in humans. While nonhuman primates (NHP) will learn to arrange new items in complex serial order and re-arrange neighboring items within that order, it has remained contentious whether they are capable to re-assign items more flexibly to non-adjacent positions. Such mental re-indexing is facilitated by inferring the latent temporal structure of experiences as opposed to learning serial chains of item-item associations. Here, we tested the ability for flexible mental re-indexing in rhesus macaques. Subjects learned to serially order five objects. A change of the background context indicated when the object order changed, probing the subjects to mentally re-arrange objects to non-adjacent positions of the learned serial structure. Subjects successfully used the context cue to pro-actively re-index items to new, non-adjacent positions. Mental re-indexing was more likely when the initial order had been learned at a higher level, improved with more experience of the re-indexing rule and correlated with working memory performance in a delayed match-to-sample task. These findings suggest that NHPs inferred the latent serial structure of experiences beyond a chaining of item-item associations and mentally rearrange items within that structure. The pattern of results indicates that NHPs form non-spatial cognitive maps of their experiences, which is a hallmark for flexible mental operations in many serially ordered behaviors including communication, counting or foraging.

Identifying representational structure in CA1 to benchmark theoretical models of cognitive mapping

Decades of theoretical and empirical work have suggested the hippocampus instantiates some form of a cognitive map. Yet, tests of competing theories have been limited in scope and largely qualitative in nature. Here, we develop a novel framework to benchmark model predictions against observed neuronal population dynamics as animals navigate a series of geometrically distinct environments. In this task space, we show a representational structure in the dynamics of hippocampal remapping that generalizes across brains, discriminates between competing theoretical models, and effectively constrains biologically viable model parameters. With this approach, we find that accurate models capture the correspondence in spatial coding of a changing environment. The present dataset and framework thus serve to empirically evaluate and advance theories of cognitive mapping in the brain.

Human hippocampus and dorsomedial prefrontal cortex infer and update latent causes during social interaction

Latent-cause inference is the process of identifying features of the environment that have caused an outcome. This problem is especially important in social settings where individuals may not make equal contributions to the outcomes they achieve together. Here, we designed a novel task in which participants inferred which of two characters was more likely to have been responsible for outcomes achieved by working together. Using computational modeling, univariate and multivariate analysis of human fMRI, and continuous theta-burst stimulation, we identified two brain regions that solved the task. Notably, as each outcome occurred, it was possible to decode the inference of its cause (the responsible character) from hippocampal activity. Activity in dorsomedial prefrontal cortex (dmPFC) updated estimates of association between cause-responsible character-and the outcome. Disruption of dmPFC activity impaired participants' ability to update their estimate as a function of inferred responsibility but spared their ability to infer responsibility.

Cognitive maps and schizophrenia

Structured internal representations ('cognitive maps') shape cognition, from imagining the future and counterfactual past, to transferring knowledge to new settings. Our understanding of how such representations are formed and maintained in biological and artificial neural networks has grown enormously. The cognitive mapping hypothesis of schizophrenia extends this enquiry to psychiatry, proposing that diverse symptoms - from delusions to conceptual disorganization - stem from abnormalities in how the brain forms structured representations. These abnormalities may arise from a confluence of neurophysiological perturbations (excitation-inhibition imbalance, resulting in attractor instability and impaired representational capacity) and/or environmental factors such as early life psychosocial stressors (which impinge on representation learning). This proposal thus links knowledge of neural circuit abnormalities, environmental risk factors, and symptoms.

A tale of two algorithms: Structured slots explain prefrontal sequence memory and are unified with hippocampal cognitive maps

Remembering events is crucial to intelligent behavior. Flexible memory retrieval requires a cognitive map and is supported by two key brain systems: hippocampal episodic memory (EM) and prefrontal working memory (WM). Although an understanding of EM is emerging, little is understood of WM beyond simple memory retrieval. We develop a mathematical theory relating the algorithms and representations of EM and WM by unveiling a duality between storing memories in synapses versus neural activity. This results in a formalism of prefrontal WM as structured, controllable neural subspaces (activity slots) representing dynamic cognitive maps without synaptic plasticity. Using neural networks, we elucidate differences, similarities, and trade-offs between the hippocampal and prefrontal algorithms. Lastly, we show that prefrontal representations in tasks from list learning to cue-dependent recall are unified as controllable activity slots. Our results unify frontal and temporal representations of memory and offer a new understanding for dynamic prefrontal representations of WM.

A hierarchical active inference model of spatial alternation tasks and the hippocampal-prefrontal circuit

Cognitive problem-solving benefits from cognitive maps aiding navigation and planning. Physical space navigation involves hippocampal (HC) allocentric codes, while abstract task space engages medial prefrontal cortex (mPFC) task-specific codes. Previous studies show that challenging tasks, like spatial alternation, require integrating these two types of maps. The disruption of the HC-mPFC circuit impairs performance. We propose a hierarchical active inference model clarifying how this circuit solves spatial interaction tasks by bridging physical and task-space maps. Simulations demonstrate that the model's dual layers develop effective cognitive maps for physical and task space. The model solves spatial alternation tasks through reciprocal interactions between the two layers. Disrupting its communication impairs decision-making, which is consistent with empirical evidence. Additionally, the model adapts to switching between multiple alternation rules, providing a mechanistic explanation of how the HC-mPFC circuit supports spatial alternation tasks and the effects of disruption.

The Algorithmic Agent Perspective and Computational Neuropsychiatry: From Etiology to Advanced Therapy in Major Depressive Disorder

Major Depressive Disorder (MDD) is a complex, heterogeneous condition affecting millions worldwide. Computational neuropsychiatry offers potential breakthroughs through the mechanistic modeling of this disorder. Using the Kolmogorov theory (KT) of consciousness, we developed a foundational model where algorithmic agents interact with the world to maximize an Objective Function evaluating affective valence. Depression, defined in this context by a state of persistently low valence, may arise from various factors-including inaccurate world models (cognitive biases), a dysfunctional Objective Function (anhedonia, anxiety), deficient planning (executive deficits), or unfavorable environments. Integrating algorithmic, dynamical systems, and neurobiological concepts, we map the agent model to brain circuits and functional networks, framing potential etiological routes and linking with depression biotypes. Finally, we explore how brain stimulation, psychotherapy, and plasticity-enhancing compounds such as psychedelics can synergistically repair neural circuits and optimize therapies using personalized computational models.

Human hippocampal and entorhinal neurons encode the temporal structure of experience

Extracting the underlying temporal structure of experience is a fundamental aspect of learning and memory that allows us to predict what is likely to happen next. Current knowledge about the neural underpinnings of this cognitive process in humans stems from functional neuroimaging research1-5. As these methods lack direct access to the neuronal level, it remains unknown how this process is computed by neurons in the human brain. Here we record from single neurons in individuals who have been implanted with intracranial electrodes for clinical reasons, and show that human hippocampal and entorhinal neurons gradually modify their activity to encode the temporal structure of a complex image presentation sequence. This representation was formed rapidly, without providing specific instructions to the participants, and persisted when the prescribed experience was no longer present. Furthermore, the structure recovered from the population activity of hippocampal-entorhinal neurons closely resembled the structural graph defining the sequence, but at the same time, also reflected the probability of upcoming stimuli. Finally, learning of the sequence graph was related to spontaneous, time-compressed replay of individual neurons' activity corresponding to previously experienced graph trajectories. These findings demonstrate that neurons in the hippocampus and entorhinal cortex integrate the 'what' and 'when' information to extract durable and predictive representations of the temporal structure of human experience.

Causal Inference Meets Deep Learning: A Comprehensive Survey

Deep learning relies on learning from extensive data to generate prediction results. This approach may inadvertently capture spurious correlations within the data, leading to models that lack interpretability and robustness. Researchers have developed more profound and stable causal inference methods based on cognitive neuroscience. By replacing the correlation model with a stable and interpretable causal model, it is possible to mitigate the misleading nature of spurious correlations and overcome the limitations of model calculations. In this survey, we provide a comprehensive and structured review of causal inference methods in deep learning. Brain-like inference ideas are discussed from a brain-inspired perspective, and the basic concepts of causal learning are introduced. The article describes the integration of causal inference with traditional deep learning algorithms and illustrates its application to large model tasks as well as specific modalities in deep learning. The current limitations of causal inference and future research directions are discussed. Moreover, the commonly used benchmark datasets and the corresponding download links are summarized.

Digital Twin Studies for Reverse Engineering the Origins of Visual Intelligence

What are the core learning algorithms in brains? Nativists propose that intelligence emerges from innate domain-specific knowledge systems, whereas empiricists propose that intelligence emerges from domain-general systems that learn domain-specific knowledge from experience. We address this debate by reviewing digital twin studies designed to reverse engineer the learning algorithms in newborn brains. In digital twin studies, newborn animals and artificial agents are raised in the same environments and tested with the same tasks, permitting direct comparison of their learning abilities. Supporting empiricism, digital twin studies show that domain-general algorithms learn animal-like object perception when trained on the first-person visual experiences of newborn animals. Supporting nativism, digital twin studies show that domain-general algorithms produce innate domain-specific knowledge when trained on prenatal experiences (retinal waves). We argue that learning across humans, animals, and machines can be explained by a universal principle, which we call space-time fitting. Space-time fitting explains both empiricist and nativist phenomena, providing a unified framework for understanding the origins of intelligence.

Learning, Fast and Slow: Single- and Many-Shot Learning in the Hippocampus

The hippocampus is critical for memory and spatial navigation. The ability to map novel environments, as well as more abstract conceptual relationships, is fundamental to the cognitive flexibility that humans and other animals require to survive in a dynamic world. In this review, we survey recent advances in our understanding of how this flexibility is implemented anatomically and functionally by hippocampal circuitry, during both active exploration (online) and rest (offline). We discuss the advantages and limitations of spike timing-dependent plasticity and the more recently discovered behavioral timescale synaptic plasticity in supporting distinct learning modes in the hippocampus. Finally, we suggest complementary roles for these plasticity types in explaining many-shot and single-shot learning in the hippocampus and discuss how these rules could work together to support the learning of cognitive maps.

Abstract representations emerge in human hippocampal neurons during inference

Humans have the remarkable cognitive capacity to rapidly adapt to changing environments. Central to this capacity is the ability to form high-level, abstract representations that take advantage of regularities in the world to support generalization1. However, little is known about how these representations are encoded in populations of neurons, how they emerge through learning and how they relate to behaviour2,3. Here we characterized the representational geometry of populations of neurons (single units) recorded in the hippocampus, amygdala, medial frontal cortex and ventral temporal cortex of neurosurgical patients performing an inferential reasoning task. We found that only the neural representations formed in the hippocampus simultaneously encode several task variables in an abstract, or disentangled, format. This representational geometry is uniquely observed after patients learn to perform inference, and consists of disentangled directly observable and discovered latent task variables. Learning to perform inference by trial and error or through verbal instructions led to the formation of hippocampal representations with similar geometric properties. The observed relation between representational format and inference behaviour suggests that abstract and disentangled representational geometries are important for complex cognition.

Extended Poisson Gaussian-Process Latent Variable Model for Unsupervised Neural Decoding

Dimension reduction on neural activity paves a way for unsupervised neural decoding by dissociating the measurement of internal neural pattern reactivation from the measurement of external variable tuning. With assumptions only on the smoothness of latent dynamics and of internal tuning curves, the Poisson gaussian-process latent variable model (P-GPLVM; Wu et al., 2017) is a powerful tool to discover the low-dimensional latent structure for high-dimensional spike trains. However, when given novel neural data, the original model lacks a method to infer their latent trajectories in the learned latent space, limiting its ability for estimating the neural reactivation. Here, we extend the P-GPLVM to enable the latent variable inference of new data constrained by previously learned smoothness and mapping information. We also describe a principled approach for the constrained latent variable inference for temporally compressed patterns of activity, such as those found in population burst events during hippocampal sharp-wave ripples, as well as metrics for assessing the validity of neural pattern reactivation and inferring the encoded experience. Applying these approaches to hippocampal ensemble recordings during active maze exploration, we replicate the result that P-GPLVM learns a latent space encoding the animal's position. We further demonstrate that this latent space can differentiate one maze context from another. By inferring the latent variables of new neural data during running, certain neural patterns are observed to reactivate, in accordance with the similarity of experiences encoded by its nearby neural trajectories in the training data manifold. Finally, reactivation of neural patterns can be estimated for neural activity during population burst events as well, allowing the identification for replay events of versatile behaviors and more general experiences. Thus, our extension of the P-GPLVM framework for unsupervised analysis of neural activity can be used to answer critical questions related to scientific discovery.

A mathematical theory of relational generalization in transitive inference

Humans and animals routinely infer relations between different items or events and generalize these relations to novel combinations of items. This allows them to respond appropriately to radically novel circumstances and is fundamental to advanced cognition. However, how learning systems (including the brain) can implement the necessary inductive biases has been unclear. We investigated transitive inference (TI), a classic relational task paradigm in which subjects must learn a relation ([Formula: see text] and [Formula: see text]) and generalize it to new combinations of items ([Formula: see text]). Through mathematical analysis, we found that a broad range of biologically relevant learning models (e.g. gradient flow or ridge regression) perform TI successfully and recapitulate signature behavioral patterns long observed in living subjects. First, we found that models with item-wise additive representations automatically encode transitive relations. Second, for more general representations, a single scalar "conjunctivity factor" determines model behavior on TI and, further, the principle of norm minimization (a standard statistical inductive bias) enables models with fixed, partly conjunctive representations to generalize transitively. Finally, neural networks in the "rich regime," which enables representation learning and improves generalization on many tasks, unexpectedly show poor generalization and anomalous behavior on TI. We find that such networks implement a form of norm minimization (over hidden weights) that yields a local encoding mechanism lacking transitivity. Our findings show how minimal statistical learning principles give rise to a classical relational inductive bias (transitivity), explain empirically observed behaviors, and establish a formal approach to understanding the neural basis of relational abstraction.

Human navigation strategies and their errors result from dynamic interactions of spatial uncertainties

Goal-directed navigation requires continuously integrating uncertain self-motion and landmark cues into an internal sense of location and direction, concurrently planning future paths, and sequentially executing motor actions. Here, we provide a unified account of these processes with a computational model of probabilistic path planning in the framework of optimal feedback control under uncertainty. This model gives rise to diverse human navigational strategies previously believed to be distinct behaviors and predicts quantitatively both the errors and the variability of navigation across numerous experiments. This furthermore explains how sequential egocentric landmark observations form an uncertain allocentric cognitive map, how this internal map is used both in route planning and during execution of movements, and reconciles seemingly contradictory results about cue-integration behavior in navigation. Taken together, the present work provides a parsimonious explanation of how patterns of human goal-directed navigation behavior arise from the continuous and dynamic interactions of spatial uncertainties in perception, cognition, and action.

Functional specialization of medial and lateral orbitofrontal cortex in inferential decision-making

Inferring prospective outcomes and updating behavior are prerequisites for making flexible decisions in the changing world. These abilities are highly associated with the functions of the orbitofrontal cortex (OFC) in humans and animals. The functional specialization of OFC subregions in decision-making has been established in animals. However, the understanding of how human OFC contributes to decision-making remains limited. Therefore, we studied this issue by examining the information representation and functional interactions of human OFC subregions during inference-based decision-making. We found that the medial OFC (mOFC) and lateral OFC (lOFC) collectively represented the inferred outcomes which, however, were context-general coding in the mOFC and context-specific in the lOFC. Furthermore, the mOFC-motor and lOFC-frontoparietal functional connectivity may indicate the motor execution of mOFC and the cognitive control of lOFC during behavioral updating. In conclusion, our findings support the dissociable functional roles of OFC subregions in decision-making.

Hippocampal and orbitofrontal neurons contribute to complementary aspects of associative structure

The ability to establish associations between environmental stimuli is fundamental for higher-order brain functions like state inference and generalization. Both the hippocampus and orbitofrontal cortex (OFC) play pivotal roles in this, demonstrating complex neural activity changes after associative learning. However, how precisely they contribute to representing learned associations remains unclear. Here, we train head-restrained mice to learn four 'odor-outcome' sequence pairs composed of several task variables-the past and current odor cues, sequence structure of 'cue-outcome' arrangement, and the expected outcome; and perform calcium imaging from these mice throughout learning. Sequence-splitting signals that distinguish between paired sequences are detected in both brain regions, reflecting associative memory formation. Critically, we uncover differential contents in represented associations by examining, in each area, how these task variables affect splitting signal generalization between sequence pairs. Specifically, the hippocampal splitting signals are influenced by the combination of past and current cues that define a particular sensory experience. In contrast, the OFC splitting signals are similar between sequence pairs that share the same sequence structure and expected outcome. These findings suggest that the hippocampus and OFC uniquely and complementarily organize the acquired associative structure.

Modeling the grid cell activity based on cognitive space transformation

The grid cells in the medial entorhinal cortex are widely recognized as a critical component of spatial cognition within the entorhinal-hippocampal neuronal circuits. To account for the hexagonal patterns, several computational models have been proposed. However, there is still considerable debate regarding the interaction between grid cells and place cells. In response, we have developed a novel grid-cell computational model based on cognitive space transformation, which established a theoretical framework of the interaction between place cells and grid cells for encoding and transforming positions between the local frame and global frame. Our model not only can generate the firing patterns of the grid cells but also reproduces the biological experiment results about the grid-cell global representation of connected environments and supports the conjecture about the underlying reason. Moreover, our model provides new insights into how grid cells and place cells integrate external and self-motion cues.

Cognitive maps and the magnetic sense in vertebrates

Navigation requires a network of neurons processing inputs from internally generated cues and external landmarks. Most studies on the neuronal basis of navigation in vertebrates have focused on rats and mice and the canonical senses vision, hearing, olfaction, and somatosensation. Some animals have evolved the ability to sense the Earth's magnetic field and use it for orientation. It can be expected that in these animals magnetic cues are integrated with other sensory cues in the cognitive map. We provide an overview of the behavioral evidence and brain regions involved in magnetic sensing in support of this idea, hoping that this will guide future experiments.

Remapping revisited: how the hippocampus represents different spaces

The representation of distinct spaces by hippocampal place cells has been linked to changes in their place fields (the locations in the environment where the place cells discharge strongly), a phenomenon that has been termed 'remapping'. Remapping has been assumed to be accompanied by the reorganization of subsecond cofiring relationships among the place cells, potentially maximizing hippocampal information coding capacity. However, several observations challenge this standard view. For example, place cells exhibit mixed selectivity, encode non-positional variables, can have multiple place fields and exhibit unreliable discharge in fixed environments. Furthermore, recent evidence suggests that, when measured at subsecond timescales, the moment-to-moment cofiring of a pair of cells in one environment is remarkably similar in another environment, despite remapping. Here, I propose that remapping is a misnomer for the changes in place fields across environments and suggest instead that internally organized manifold representations of hippocampal activity are actively registered to different environments to enable navigation, promote memory and organize knowledge.

The emergence of enhanced intelligence in a brain-inspired cognitive architecture

The Causal Cognitive Architecture is a brain-inspired cognitive architecture developed from the hypothesis that the navigation circuits in the ancestors of mammals duplicated to eventually form the neocortex. Thus, millions of neocortical minicolumns are functionally modeled in the architecture as millions of "navigation maps." An investigation of a cognitive architecture based on these navigation maps has previously shown that modest changes in the architecture allow the ready emergence of human cognitive abilities such as grounded, full causal decision-making, full analogical reasoning, and near-full compositional language abilities. In this study, additional biologically plausible modest changes to the architecture are considered and show the emergence of super-human planning abilities. The architecture should be considered as a viable alternative pathway toward the development of more advanced artificial intelligence, as well as to give insight into the emergence of natural human intelligence.

Forming cognitive maps for abstract spaces: the roles of the human hippocampus and orbitofrontal cortex

How does the human brain construct cognitive maps for decision-making and inference? Here, we conduct an fMRI study on a navigation task in multidimensional abstract spaces. Using a deep neural network model, we assess learning levels and categorized paths into exploration and exploitation stages. Univariate analyses show higher activation in the bilateral hippocampus and lateral prefrontal cortex during exploration, positively associated with learning level and response accuracy. Conversely, the bilateral orbitofrontal cortex (OFC) and retrosplenial cortex show higher activation during exploitation, negatively associated with learning level and response accuracy. Representational similarity analysis show that the hippocampus, entorhinal cortex, and OFC more accurately represent destinations in exploitation than exploration stages. These findings highlight the collaboration between the medial temporal lobe and prefrontal cortex in learning abstract space structures. The hippocampus may be involved in spatial memory formation and representation, while the OFC integrates sensory information for decision-making in multidimensional abstract spaces.

Bayesian reinforcement learning: A basic overview

We and other animals learn because there is some aspect of the world about which we are uncertain. This uncertainty arises from initial ignorance, and from changes in the world that we do not perfectly know; the uncertainty often becomes evident when our predictions about the world are found to be erroneous. The Rescorla-Wagner learning rule, which specifies one way that prediction errors can occasion learning, has been hugely influential as a characterization of Pavlovian conditioning and, through its equivalence to the delta rule in engineering, in a much wider class of learning problems. Here, we review the embedding of the Rescorla-Wagner rule in a Bayesian context that is precise about the link between uncertainty and learning, and thereby discuss extensions to such suggestions as the Kalman filter, structure learning, and beyond, that collectively encompass a wider range of uncertainties and accommodate a wider assortment of phenomena in conditioning.

Topological structure of population activity in mouse visual cortex encodes densely sampled stimulus rotations

The primary visual cortex is one of the most well understood regions supporting the processing involved in sensory computation. Following the popularization of high-density neural recordings, it has been observed that the activity of large neural populations is often constrained to low dimensional manifolds. In this work, we quantify the structure of such neural manifolds in the visual cortex. We do this by analyzing publicly available two-photon optical recordings of mouse primary visual cortex in response to visual stimuli with a densely sampled rotation angle. Using a geodesic metric along with persistent homology, we discover that population activity in response to such stimuli generates a circular manifold, encoding the angle of rotation. Furthermore, we observe that this circular manifold is expressed differently in subpopulations of neurons with differing orientation and direction selectivity. Finally, we discuss some of the obstacles to reliably retrieving the truthful topology generated by a neural population.

Task-anchored grid cell firing is selectively associated with successful path integration-dependent behaviour

Grid firing fields have been proposed as a neural substrate for spatial localisation in general or for path integration in particular. To distinguish these possibilities, we investigate firing of grid and non-grid cells in the mouse medial entorhinal cortex during a location memory task. We find that grid firing can either be anchored to the task environment, or can encode distance travelled independently of the task reference frame. Anchoring varied between and within sessions, while spatial firing of non-grid cells was either coherent with the grid population, or was stably anchored to the task environment. We took advantage of the variability in task-anchoring to evaluate whether and when encoding of location by grid cells might contribute to behaviour. We find that when reward location is indicated by a visual cue, performance is similar regardless of whether grid cells are task-anchored or not, arguing against a role for grid representations when location cues are available. By contrast, in the absence of the visual cue, performance was enhanced when grid cells were anchored to the task environment. Our results suggest that anchoring of grid cells to task reference frames selectively enhances performance when path integration is required.

Representational maps in the brain: concepts, approaches, and applications

Neural systems have evolved to process sensory stimuli in a way that allows for efficient and adaptive behavior in a complex environment. Recent technological advances enable us to investigate sensory processing in animal models by simultaneously recording the activity of large populations of neurons with single-cell resolution, yielding high-dimensional datasets. In this review, we discuss concepts and approaches for assessing the population-level representation of sensory stimuli in the form of a representational map. In such a map, not only are the identities of stimuli distinctly represented, but their relational similarity is also mapped onto the space of neuronal activity. We highlight example studies in which the structure of representational maps in the brain are estimated from recordings in humans as well as animals and compare their methodological approaches. Finally, we integrate these aspects and provide an outlook for how the concept of representational maps could be applied to various fields in basic and clinical neuroscience.

Local prediction-learning in high-dimensional spaces enables neural networks to plan

Planning and problem solving are cornerstones of higher brain function. But we do not know how the brain does that. We show that learning of a suitable cognitive map of the problem space suffices. Furthermore, this can be reduced to learning to predict the next observation through local synaptic plasticity. Importantly, the resulting cognitive map encodes relations between actions and observations, and its emergent high-dimensional geometry provides a sense of direction for reaching distant goals. This quasi-Euclidean sense of direction provides a simple heuristic for online planning that works almost as well as the best offline planning algorithms from AI. If the problem space is a physical space, this method automatically extracts structural regularities from the sequence of observations that it receives so that it can generalize to unseen parts. This speeds up learning of navigation in 2D mazes and the locomotion with complex actuator systems, such as legged bodies. The cognitive map learner that we propose does not require a teacher, similar to self-attention networks (Transformers). But in contrast to Transformers, it does not require backpropagation of errors or very large datasets for learning. Hence it provides a blue-print for future energy-efficient neuromorphic hardware that acquires advanced cognitive capabilities through autonomous on-chip learning.

A perspective on neuroethology: what the past teaches us about the future of neuroethology

For 100 years, the Journal of Comparative Physiology-A has significantly supported research in the field of neuroethology. The celebration of the journal's centennial is a great time point to appreciate the recent progress in neuroethology and to discuss possible avenues of the field. Animal behavior is the main source of inspiration for neuroethologists. This is illustrated by the huge diversity of investigated behaviors and species. To explain behavior at a mechanistic level, neuroethologists combine neuroscientific approaches with sophisticated behavioral analysis. The rapid technological progress in neuroscience makes neuroethology a highly dynamic and exciting field of research. To summarize the recent scientific progress in neuroethology, I went through all abstracts of the last six International Congresses for Neuroethology (ICNs 2010-2022) and categorized them based on the sensory modalities, experimental model species, and research topics. This highlights the diversity of neuroethology and gives us a perspective on the field's scientific future. At the end, I highlight three research topics that may, among others, influence the future of neuroethology. I hope that sharing my roots may inspire other scientists to follow neuroethological approaches.

Lateral entorhinal cortex subpopulations represent experiential epochs surrounding reward

During goal-directed navigation, 'what' information, describing the experiences occurring in periods surrounding a reward, can be combined with spatial 'where' information to guide behavior and form episodic memories. This integrative process likely occurs in the hippocampus, which receives spatial information from the medial entorhinal cortex; however, the source of the 'what' information is largely unknown. Here, we show that mouse lateral entorhinal cortex (LEC) represents key experiential epochs during reward-based navigation tasks. We discover separate populations of neurons that signal goal approach and goal departure and a third population signaling reward consumption. When reward location is moved, these populations immediately shift their respective representations of each experiential epoch relative to reward, while optogenetic inhibition of LEC disrupts learning the new reward location. Therefore, the LEC contains a stable code of experiential epochs surrounding and including reward consumption, providing reward-centric information to contextualize the spatial information carried by the medial entorhinal cortex.

Lost in space(s): Multimodal neuroimaging of disorientation along the Alzheimer's disease continuum

Orientation is a fundamental cognitive faculty and the bedrock of the neurologic examination. Orientation is defined as the alignment between an individual's internal representation and the external world in the spatial, temporal, and social domains. While spatial disorientation is a recognized hallmark of Alzheimer's disease (AD), little is known about disorientation beyond space in AD. This study aimed to explore disorientation in spatial, temporal, and social domains along the AD continuum. Fifty-one participants along the AD continuum performed an ecological orientation task in the spatial, temporal, and social domains while undergoing functional MRI. Disorientation in AD followed a three-way association between orientation domain, brain region, and disease stage. Specifically, patients with early amnestic mild cognitive impairment exhibited spatio-temporal disorientation and reduced brain activity in temporoparietal regions, while patients with AD dementia showed additional social disorientation and reduced brain activity in frontoparietal regions. Furthermore, patterns of hypoactivation overlapped different subnetworks of the default mode network, patterns of fluorodeoxyglucose hypometabolism, and cortical atrophy characteristic of AD. Our results suggest that AD may encompass a disorder of orientation, characterized by a biphasic process manifesting as early spatio-temporal and late social disorientation. As such, disorientation may offer a unique window into the clinicopathological progression of AD. SIGNIFICANCE STATEMENT: Despite extensive research into Alzheimer's disease (AD), its core cognitive deficit remains a matter of debate. In this study, we investigated whether orientation, defined as the ability to align internal representations with the external world in spatial, temporal, and social domains, constitutes a core cognitive deficit in AD. To do so, we used PET-fMRI imaging to collect behavioral, functional, and metabolic data from 51 participants along the AD continuum. Our findings suggest that AD may constitute a disorder of orientation, characterized by an early spatio-temporal disorientation and followed by late social disorientation, manifesting in task-evoked and neurodegenerative changes. We propose that a profile of disorientation across multiple domains offers a unique window into the progression of AD and as such could greatly benefit disease diagnosis, monitoring, and evaluation of treatment response.

Evidence for shallow cognitive maps in schizophrenia

Individuals with schizophrenia can have marked deficits in goal-directed decision making. Prominent theories differ in whether schizophrenia (SZ) affects the ability to exert cognitive control, or the motivation to exert control. An alternative explanation is that schizophrenia negatively impacts the formation of cognitive maps, the internal representations of the way the world is structured, necessary for the formation of effective action plans. That is, deficits in decision-making could also arise when goal-directed control and motivation are intact, but used to plan over ill-formed maps. Here, we test the hypothesis that individuals with SZ are impaired in the construction of cognitive maps. We combine a behavioral representational similarity analysis technique with a sequential decision-making task. This enables us to examine how relationships between choice options change when individuals with SZ and healthy age-matched controls build a cognitive map of the task structure. Our results indicate that SZ affects how people represent the structure of the task, focusing more on simpler visual features and less on abstract, higher-order, planning-relevant features. At the same time, we find that SZ were able to display similar performance on this task compared to controls, emphasizing the need for a distinction between cognitive map formation and changes in goal-directed control in understanding cognitive deficits in schizophrenia.

Grid codes underlie multiple cognitive maps in the human brain

Grid cells fire at multiple positions that organize the vertices of equilateral triangles tiling a 2D space and are well studied in rodents. The last decade witnessed rapid progress in two other research lines on grid codes-empirical studies on distributed human grid-like representations in physical and multiple non-physical spaces, and cognitive computational models addressing the function of grid cells based on principles of efficient and predictive coding. Here, we review the progress in these fields and integrate these lines into a systematic organization. We also discuss the coordinate mechanisms of grid codes in the human entorhinal cortex and medial prefrontal cortex and their role in neurological and psychiatric diseases.

Latent representations in hippocampal network model co-evolve with behavioral exploration of task structure

To successfully learn real-life behavioral tasks, animals must pair actions or decisions to the task's complex structure, which can depend on abstract combinations of sensory stimuli and internal logic. The hippocampus is known to develop representations of this complex structure, forming a so-called "cognitive map". However, the precise biophysical mechanisms driving the emergence of task-relevant maps at the population level remain unclear. We propose a model in which plateau-based learning at the single cell level, combined with reinforcement learning in an agent, leads to latent representational structures codependently evolving with behavior in a task-specific manner. In agreement with recent experimental data, we show that the model successfully develops latent structures essential for task-solving (cue-dependent "splitters") while excluding irrelevant ones. Finally, our model makes testable predictions concerning the co-dependent interactions between split representations and split behavioral policy during their evolution.

Direct cortical inputs to hippocampal area CA1 transmit complementary signals for goal-directed navigation

The subregions of the entorhinal cortex (EC) are conventionally thought to compute dichotomous representations for spatial processing, with the medial EC (MEC) providing a global spatial map and the lateral EC (LEC) encoding specific sensory details of experience. Yet, little is known about the specific types of information EC transmits downstream to the hippocampus. Here, we exploit in vivo sub-cellular imaging to record from EC axons in CA1 while mice perform navigational tasks in virtual reality (VR). We uncover distinct yet overlapping representations of task, location, and context in both MEC and LEC axons. MEC transmitted highly location- and context-specific codes; LEC inputs were biased by ongoing navigational goals. However, during tasks with reliable reward locations, the animals' position could be accurately decoded from either subregion. Our results revise the prevailing dogma about EC information processing, revealing novel ways spatial and non-spatial information is routed and combined upstream of the hippocampus.

Sensory cortical ensembles exhibit differential coupling to ripples in distinct hippocampal subregions

Cortical neurons activated during recent experiences often reactivate with dorsal hippocampal CA1 ripples during subsequent rest. Less is known about cortical interactions with intermediate hippocampal CA1, whose connectivity, functions, and ripple events differ from dorsal CA1. We identified three clusters of putative excitatory neurons in mouse visual cortex that are preferentially excited together with either dorsal or intermediate CA1 ripples or suppressed before both ripples. Neurons in each cluster were evenly distributed across primary and higher visual cortices and co-active even in the absence of ripples. These ensembles exhibited similar visual responses but different coupling to thalamus and pupil-indexed arousal. We observed a consistent activity sequence preceding and predicting ripples: (1) suppression of ripple-suppressed cortical neurons, (2) thalamic silence, and (3) activation of intermediate CA1-ripple-activated cortical neurons. We propose that coordinated dynamics of these ensembles relay visual experiences to distinct hippocampal subregions for incorporation into different cognitive maps.

Abstract representations emerge in human hippocampal neurons during inference behavior

Humans have the remarkable cognitive capacity to rapidly adapt to changing environments. Central to this capacity is the ability to form high-level, abstract representations that take advantage of regularities in the world to support generalization 1 . However, little is known about how these representations are encoded in populations of neurons, how they emerge through learning, and how they relate to behavior 2,3 . Here we characterized the representational geometry of populations of neurons (single-units) recorded in the hippocampus, amygdala, medial frontal cortex, and ventral temporal cortex of neurosurgical patients who are performing an inferential reasoning task. We find that only the neural representations formed in the hippocampus simultaneously encode multiple task variables in an abstract, or disentangled, format. This representational geometry is uniquely observed after patients learn to perform inference, and consisted of disentangled directly observable and discovered latent task variables. Interestingly, learning to perform inference by trial and error or through verbal instructions led to the formation of hippocampal representations with similar geometric properties. The observed relation between representational format and inference behavior suggests that abstract/disentangled representational geometries are important for complex cognition.

Sharpening the blades of the dentate gyrus: how adult-born neurons differentially modulate diverse aspects of hippocampal learning and memory

For decades, the mammalian hippocampus has been the focus of cellular, anatomical, behavioral, and computational studies aimed at understanding the fundamental mechanisms underlying cognition. Long recognized as the brain's seat for learning and memory, a wealth of knowledge has been accumulated on how the hippocampus processes sensory input, builds complex associations between objects, events, and space, and stores this information in the form of memories to be retrieved later in life. However, despite major efforts, our understanding of hippocampal cognitive function remains fragmentary, and models trying to explain it are continually revisited. Here, we review the literature across all above-mentioned domains and offer a new perspective by bringing attention to the most distinctive, and generally neglected, feature of the mammalian hippocampal formation, namely, the structural separability of the two blades of the dentate gyrus into "supra-pyramidal" and "infra-pyramidal". Next, we discuss recent reports supporting differential effects of adult neurogenesis in the regulation of mature granule cell activity in these two blades. We propose a model for how differences in connectivity and adult neurogenesis in the two blades can potentially provide a substrate for subtly different cognitive functions.

Simple and complex cells revisited: toward a selectivity-invariance model of object recognition

This paper presents a theoretical perspective on modeling ventral stream processing by revisiting the computational abstraction of simple and complex cells. In parallel to David Marr's vision theory, we organize the new perspective into three levels. At the computational level, we abstract simple and complex cells into space partitioning and composition in a topological space based on the redundancy exploitation hypothesis of Horace Barlow. At the algorithmic level, we present a hierarchical extension of sparse coding by exploiting the manifold constraint in high-dimensional space (i.e., the blessing of dimensionality). The resulting over-parameterized models for object recognition differ from existing hierarchical models by disentangling the objectives of selectivity and invariance computation. It is possible to interpret our hierarchical construction as a computational implementation of cortically local subspace untangling for object recognition and face representation, which are closely related to exemplar-based and axis-based coding in the medial temporal lobe. At the implementation level, we briefly discuss two possible implementations based on asymmetric sparse autoencoders and divergent spiking neural networks.

Accounting for multiscale processing in adaptive real-world decision-making via the hippocampus

For adaptive real-time behavior in real-world contexts, the brain needs to allow past information over multiple timescales to influence current processing for making choices that create the best outcome as a person goes about making choices in their everyday life. The neuroeconomics literature on value-based decision-making has formalized such choice through reinforcement learning models for two extreme strategies. These strategies are model-free (MF), which is an automatic, stimulus-response type of action, and model-based (MB), which bases choice on cognitive representations of the world and causal inference on environment-behavior structure. The emphasis of examining the neural substrates of value-based decision making has been on the striatum and prefrontal regions, especially with regards to the "here and now" decision-making. Yet, such a dichotomy does not embrace all the dynamic complexity involved. In addition, despite robust research on the role of the hippocampus in memory and spatial learning, its contribution to value-based decision making is just starting to be explored. This paper aims to better appreciate the role of the hippocampus in decision-making and advance the successor representation (SR) as a candidate mechanism for encoding state representations in the hippocampus, separate from reward representations. To this end, we review research that relates hippocampal sequences to SR models showing that the implementation of such sequences in reinforcement learning agents improves their performance. This also enables the agents to perform multiscale temporal processing in a biologically plausible manner. Altogether, we articulate a framework to advance current striatal and prefrontal-focused decision making to better account for multiscale mechanisms underlying various real-world time-related concepts such as the self that cumulates over a person's life course.

The orbitofrontal cortex: A goal-directed cognitive map framework for social and non-social behaviors

The orbitofrontal cortex (OFC) is regarded as one of the core brain areas in a variety of value-based behaviors. Over the past two decades, tremendous knowledge about the OFC function was gained from studying the behaviors of single subjects. As a result, our previous understanding of the OFC's function of encoding decision variables, such as the value and identity of choices, has evolved to the idea that the OFC encodes a more complex representation of the task space as a cognitive map. Accumulating evidence also indicates that the OFC importantly contributes to behaviors in social contexts, especially those involved in cooperative interactions. However, it remains elusive how exactly OFC neurons contribute to social functions and how non-social and social behaviors are related to one another in the computations performed by OFC neurons. In this review, we aim to provide an integrated view of the OFC function across both social and non-social behavioral contexts. We propose that seemingly complex functions of the OFC may be explained by its role in providing a goal-directed cognitive map to guide a wide array of adaptive reward-based behaviors in both social and non-social domains.

Testing cognitive theories with multivariate pattern analysis of neuroimaging data

Multivariate pattern analysis (MVPA) has emerged as a powerful method for the analysis of functional magnetic resonance imaging, electroencephalography and magnetoencephalography data. The new approaches to experimental design and hypothesis testing afforded by MVPA have made it possible to address theories that describe cognition at the functional level. Here we review a selection of studies that have used MVPA to test cognitive theories from a range of domains, including perception, attention, memory, navigation, emotion, social cognition and motor control. This broad view reveals properties of MVPA that make it suitable for understanding the 'how' of human cognition, such as the ability to test predictions expressed at the item or event level. It also reveals limitations and points to future directions.

The thalamic reuniens is associated with consolidation of non-spatial memory too

The nucleus reuniens (RE) is situated in the midline thalamus and provides a key link between the hippocampus and prefrontal cortex. This anatomical relationship positions the Re as an ideal candidate to facilitate memory consolidation. However, there is no evidence that this role extends beyond spatial memory and contextual fear memory, which are both strongly associated with hippocampal function. We, therefore, trained intact male Long-Evans rats on an odor-trace-object paired-associate task where the explicit 10-s delay between paired items renders the task sensitive to hippocampal function. Neurons in the RE showed significantly increased activation of the immediate early gene (Zif268) when rats were re-tested for previous non-spatial memory 25 days after acquisition training, compared to a group tested at 5-days post-acquisition, as well as a control group tested 25 days after acquisition but with a new pair of non-spatial stimuli, and home cage controls. The remote recall group also showed relatively augmented IEG expression in the superficial layers of the medial PFC (anterior cingulate cortex and prelimbic cortex). These findings support the conclusion that the RE is preferentially engaged during remote recall in this non-spatial task and thus has a role beyond spatial memory and contextual fear memory.

The effect of memory load on object reconstruction: Insights from an online mouse-tracking task

Why can't we remember everything that we experience? Previous work in the domain of object memory has suggested that our ability to resolve interference between relevant and irrelevant object features may limit how much we can remember at any given moment. Here, we developed an online mouse-tracking task to study how memory load influences object reconstruction, testing participants synchronously over virtual conference calls. We first tested up to 18 participants concurrently, replicating memory findings from a condition where participants were tested individually. Next, we examined how memory load influenced mouse trajectories as participants reconstructed target objects. We found interference between the contents of working memory and what was perceived during object reconstruction, an effect that interacted with visual similarity and memory load. Furthermore, we found interference from previously studied but currently irrelevant objects, providing evidence of object-to-location binding errors. At the greatest memory load, participants were nearly three times more likely to move their mouse cursor over previously studied nontarget objects, an effect observed primarily during object reconstruction rather than in the period before the final response. As evidence of the dynamic interplay between working memory and perception, these results show that object reconstruction behavior may be altered by (i) interference between what is represented in mind and what is currently being viewed, and (ii) interference from previously studied but currently irrelevant information. Finally, we discuss how mouse tracking can provide a rich characterization of participant behavior at millisecond temporal resolution, enormously increasing power in cognitive psychology experiments.

Neural representation dynamics reveal computational principles of cognitive task learning

During cognitive task learning, neural representations must be rapidly constructed for novel task performance, then optimized for robust practiced task performance. How the geometry of neural representations changes to enable this transition from novel to practiced performance remains unknown. We hypothesized that practice involves a shift from compositional representations (task-general activity patterns that can be flexibly reused across tasks) to conjunctive representations (task-specific activity patterns specialized for the current task). Functional MRI during learning of multiple complex tasks substantiated this dynamic shift from compositional to conjunctive representations, which was associated with reduced cross-task interference (via pattern separation) and behavioral improvement. Further, we found that conjunctions originated in subcortex (hippocampus and cerebellum) and slowly spread to cortex, extending multiple memory systems theories to encompass task representation learning. The formation of conjunctive representations hence serves as a computational signature of learning, reflecting cortical-subcortical dynamics that optimize task representations in the human brain.

Computational cross-species views of the hippocampal formation

The discovery of place cells and head direction cells in the hippocampal formation of freely foraging rodents has led to an emphasis of its role in encoding allocentric spatial relationships. In contrast, studies in head-fixed primates have additionally found representations of spatial views. We review recent experiments in freely moving monkeys that expand upon these findings and show that postural variables such as eye/head movements strongly influence neural activity in the hippocampal formation, suggesting that the function of the hippocampus depends on where the animal looks. We interpret these results in the light of recent studies in humans performing challenging navigation tasks which suggest that depending on the context, eye/head movements serve one of two roles-gathering information about the structure of the environment (active sensing) or externalizing the contents of internal beliefs/deliberation (embodied cognition). These findings prompt future experimental investigations into the information carried by signals flowing between the hippocampal formation and the brain regions controlling postural variables, and constitute a basis for updating computational theories of the hippocampal system to accommodate the influence of eye/head movements.

Sensory cortical ensembles exhibit differential coupling to ripples in distinct hippocampal subregions

Cortical neurons activated during recent experiences often reactivate with dorsal hippocampal CA1 sharp-wave ripples (SWRs) during subsequent rest. Less is known about cortical interactions with intermediate hippocampal CA1, whose connectivity, functions, and SWRs differ from those of dorsal CA1. We identified three clusters of visual cortical excitatory neurons that are excited together with either dorsal or intermediate CA1 SWRs, or suppressed before both SWRs. Neurons in each cluster were distributed across primary and higher visual cortices and co-active even in the absence of SWRs. These ensembles exhibited similar visual responses but different coupling to thalamus and pupil-indexed arousal. We observed a consistent activity sequence: (i) suppression of SWR-suppressed cortical neurons, (ii) thalamic silence, and (iii) activation of the cortical ensemble preceding and predicting intermediate CA1 SWRs. We propose that the coordinated dynamics of these ensembles relay visual experiences to distinct hippocampal subregions for incorporation into different cognitive maps.