Hebbian analysis of the transformation of medial entorhinal grid-cell inputs to hippocampal place fields

Formation of cognitive maps in large-scale environments by sensorimotor integration

Hippocampus in the mammalian brain supports navigation by building a cognitive map of the environment. However, only a few studies have investigated cognitive maps in large-scale arenas. To reveal the computational mechanisms underlying the formation of cognitive maps in large-scale environments, we propose a neural network model of the entorhinal-hippocampal neural circuit that integrates both spatial and non-spatial information. Spatial information is relayed from the grid units in medial entorhinal cortex (MEC) by integrating multimodal sensory-motor signals. Non-spatial, such as object, information is imparted from the visual units in lateral entorhinal cortex (LEC) by encoding visual scenes through a deep neural network. The synaptic weights from the grid units and the visual units to the place units in the hippocampus are learned by a competitive learning rule. We simulated the model in a large box maze. The place units in the model form irregularly-spaced multiple fields across the environment. When the strength of visual inputs is dominant, the responses of place units become conjunctive and egocentric. These results point to the key role of the hippocampus in balancing spatial and non-spatial information relayed via LEC and MEC.

On growth and form of animal behavior

In this study we propose an architecture (bauplan) for the growth and form of behavior in vertebrates and arthropods. We show in what sense behavior is an extension of anatomy. Then we show that movement-based behavior shares linearity and modularity with the skeletal body plan, and with the Hox genes; that it mirrors the geometry of the physical environment; and that it reveals the animal's understanding of the animate and physical situation, with implications for perception, attention, emotion, and primordial cognition. First we define the primitives of movement in relational terms, as in comparative anatomy, yielding homological primitives. Then we define modules, generative rules and the architectural plan of behavior in terms of these primitives. In this way we expose the homology of behaviors, and establish a rigorous trans-phyletic comparative discipline of the morphogenesis of movement-based behavior. In morphogenesis, behavior builds up and narrows incessantly according to strict geometric rules. The same rules apply in moment-to-moment behavior, in ontogenesis, and partly also in phylogenesis. We demonstrate these rules in development, in neurological recovery, with drugs (dopamine-stimulated striatal modulation), in stressful situations, in locomotor behavior, and partly also in human pathology. The buildup of movement culminates in free, undistracted, exuberant behavior. It is observed in play, in superior animals during agonistic interactions, and in humans in higher states of functioning. Geometrization promotes the study of genetics, anatomy, and behavior within one and the same discipline. The geometrical bauplan portrays both already evolved dimensions, and prospective dimensional constraints on evolutionary behavioral innovations.

Spontaneous Dynamics of Hippocampal Place Fields in a Model of Combinatorial Competition among Stable Inputs

We present computer simulations illustrating how the plastic integration of spatially stable inputs could contribute to the dynamic character of hippocampal spatial representations. In novel environments of slightly larger size than typical apparatus, the emergence of well-defined place fields in real place cells seems to rely on inputs from normally functioning grid cells. Theoretically, the grid-to-place transformation is possible if a place cell is able to respond selectively to a combination of suitably aligned grids. We previously identified the functional characteristics that allow a synaptic plasticity rule to accomplish this selection by synaptic competition during rat foraging behavior. Here, we show that the synaptic competition can outlast the formation of place fields, contributing to their spatial reorganization over time, when the model is run in larger environments and the topographical/modular organization of grid inputs is taken into account. Co-simulated cells that differ only by their randomly assigned grid inputs display different degrees and kinds of spatial reorganization-ranging from place-field remapping to more subtle in-field changes or lapses in firing. The model predicts a greater number of place fields and propensity for remapping in place cells recorded from more septal regions of the hippocampus and/or in larger environments, motivating future experimental standardization across studies and animal models. In sum, spontaneous remapping could arise from rapid synaptic learning involving inputs that are functionally homogeneous, spatially stable, and minimally stochastic.

Spontaneous dynamics of hippocampal place fields in a model of combinatorial competition among stable inputs

We present computer simulations illustrating how the plastic integration of spatially stable inputs could contribute to the dynamic character of hippocampal spatial representations. In novel environments of slightly larger size than typical apparatus, the emergence of well-defined place fields in real place cells seems to rely on inputs from normally functioning grid cells. Theoretically, the grid-to-place transformation is possible if a place cell is able to respond selectively to a combination of suitably aligned grids. We previously identified the functional characteristics that allow a synaptic plasticity rule to accomplish this selection by synaptic competition during rat foraging behavior. Here, we show that the synaptic competition can outlast the formation of place fields, contributing to their spatial reorganization over time, when the model is run in larger environments and the topographical/modular organization of grid inputs is taken into account. Co-simulated cells that differ only by their randomly assigned grid inputs display different degrees and kinds of spatial reorganization-ranging from place-field remapping to more subtle in-field changes or lapses in firing. The model predicts a greater number of place fields and propensity for remapping in place cells recorded from more septal regions of the hippocampus and/or in larger environments, motivating future experimental standardization across studies and animal models. In sum, spontaneous remapping could arise from rapid synaptic learning involving inputs that are functionally homogeneous, spatially stable, and minimally stochastic.

Significance Statement

In both AI and theoretical neuroscience, learning systems often rely on the asymptotic convergence of slow-acting learning rules applied to input spaces that are presumed to be sampled repeatedly, for example over developmental timescales. Place cells of the hippocampus testify to a neural system capable of rapidly encoding cognitive variables-such as the animal's position in space-from limited experience. These internal representations undergo "spontaneous" changes over time, spurring much interest in their cognitive significance and underlying mechanisms. We investigate a model suggesting that some of these changes could be a tradeoff of rapid learning.

The chicken and egg problem of grid cells and place cells

Place cells and grid cells are major building blocks of the hippocampal cognitive map. The prominent forward model postulates that grid-cell modules are generated by a continuous attractor network; that a velocity signal evoked during locomotion moves entorhinal activity bumps; and that place-cell activity constitutes summation of entorhinal grid-cell modules. Experimental data support the first postulate, but not the latter two. Several families of solutions that depart from these postulates have been put forward. We suggest a modified model (spatial modulation continuous attractor network; SCAN), whereby place cells are generated from spatially selective nongrid cells. Locomotion causes these cells to move the hippocampal activity bump, leading to movement of the entorhinal manifolds. Such inversion accords with the shift of hippocampal thought from navigation to more abstract functions.

Coordinated drift of receptive fields in Hebbian/anti-Hebbian network models during noisy representation learning

Recent experiments have revealed that neural population codes in many brain areas continuously change even when animals have fully learned and stably perform their tasks. This representational 'drift' naturally leads to questions about its causes, dynamics and functions. Here we explore the hypothesis that neural representations optimize a representational objective with a degenerate solution space, and noisy synaptic updates drive the network to explore this (near-)optimal space causing representational drift. We illustrate this idea and explore its consequences in simple, biologically plausible Hebbian/anti-Hebbian network models of representation learning. We find that the drifting receptive fields of individual neurons can be characterized by a coordinated random walk, with effective diffusion constants depending on various parameters such as learning rate, noise amplitude and input statistics. Despite such drift, the representational similarity of population codes is stable over time. Our model recapitulates experimental observations in the hippocampus and posterior parietal cortex and makes testable predictions that can be probed in future experiments.

Inhibitory conductance controls place field dynamics in the hippocampus

Hippocampal place cells receive a disparate collection of excitatory and inhibitory currents that endow them with spatially selective discharges and rhythmic activity. Using a combination of in vivo intracellular and extracellular recordings with opto/chemogenetic manipulations and computational modeling, we investigate the influence of inhibitory and excitatory inputs on CA1 pyramidal cell responses. At the cell bodies, inhibition leads and is stronger than excitation across the entire theta cycle. Pyramidal neurons fire on the ascending phase of theta when released from inhibition. Computational models equipped with the observed conductances reproduce these dynamics. In these models, place field properties are favored when the increased excitation is coupled with a reduction of inhibition within the field. As predicted by our simulations, firing rate within place fields and phase locking to theta are impaired by DREADDs activation of interneurons. Our results indicate that decreased inhibitory conductance is critical for place field expression.

Valero et al. examine the influence of inhibition on place fields. They show that hippocampal neurons are dominated by inhibitory conductances during theta oscillations. A transient increase of excitation and drop of inhibition mediates place field emergence in simulations. Consistently, chemogenetic activation of interneurons deteriorates place cell properties in vivo.

Extrinsic control and intrinsic computation in the hippocampal CA1 circuit

In understanding circuit operations, a key problem is the extent to which neuronal spiking reflects local computation or responses to upstream inputs. We addressed this issue in the hippocampus by performing combined optogenetic and pharmacogenetic local and upstream inactivation. Silencing the medial entorhinal cortex (mEC) largely abolished extracellular theta and gamma currents in CA1 while only moderately affecting firing rates. In contrast, CA3 and local CA1 silencing strongly decreased firing of CA1 neurons without affecting theta currents. Each perturbation reconfigured the CA1 spatial map. However, the ability of the CA1 circuit to support place field activity persisted, maintaining the same fraction of spatially tuned place fields and reliable assembly expression as in the intact mouse. Thus, the CA1 network can induce and maintain coordinated cell assemblies with minimal reliance on its inputs, but these inputs can effectively reconfigure and assist in maintaining stability of the CA1 map.

A Bionic Spatial Cognition Model and Method for Robots Based on the Hippocampus Mechanism

The hippocampus and its accessory are the main areas for spatial cognition. It can integrate paths and form environmental cognition based on motion information and then realize positioning and navigation. Learning from the hippocampus mechanism is a crucial way forward for research in robot perception, so it is crucial to building a calculation method that conforms to the biological principle. In addition, it should be easy to implement on a robot. This paper proposes a bionic cognition model and method for mobile robots, which can realize precise path integration and cognition of space. Our research can provide the basis for the cognition of the environment and autonomous navigation for bionic robots.

Distal CA1 Maintains a More Coherent Spatial Representation than Proximal CA1 When Local and Global Cues Conflict

Entorhinal cortical projections show segregation along the transverse axis of CA1, with the medial entorhinal cortex (MEC) sending denser projections to proximal CA1 (pCA1) and the lateral entorhinal cortex (LEC) sending denser projections to distal CA1 (dCA1). Previous studies have reported functional segregation along the transverse axis of CA1 correlated with the functional differences in MEC and LEC. pCA1 shows higher spatial selectivity than dCA1 in these studies. We employ a double rotation protocol, which creates an explicit conflict between the local and the global cues, to understand the differential contributions of these reference frames to the spatial code in pCA1 and dCA1 in male Long-Evans rats. We show that pCA1 and dCA1 respond differently to this local-global cue conflict. pCA1 representation splits as predicted from the strong conflicting inputs it receives from MEC and dCA3. In contrast, dCA1 rotates more in concert with the global cues. In addition, pCA1 and dCA1 display comparable levels of spatial selectivity in this study. This finding differs from the previous studies, perhaps because of richer sensory information available in our behavior arena. Together, these observations indicate that the functional segregation along proximodistal axis of CA1 is not of the amount of spatial selectivity but that of the nature of the different inputs used to create and anchor spatial representations.SIGNIFICANCE STATEMENT Subregions of the hippocampus are thought to play different roles in spatial navigation and episodic memory. It was previously thought that the distal part of area CA1 of the hippocampus carries lesser information about space than proximal CA1 (pCA1). We report that distal CA1 (dCA1) spatial representation moves more in concert with the global cues than pCA1 when the local and the global cues conflict. We also show that spatial selectivity is comparable along the proximodistal axis in this experimental protocol. Thus, different parts of the brain receiving differential outputs from pCA1 and dCA1 receive spatial information in different spatial reference frames encoded using different sets of inputs, rather than different amounts of spatial information as thought earlier.

Skipping ahead: A circuit for representing the past, present, and future

Envisioning the future is intuitively linked to our ability to remember the past. Within the memory system, substantial work has demonstrated the involvement of the prefrontal cortex and the hippocampus in representing the past and present. Recent data shows that both the prefrontal cortex and the hippocampus encode future trajectories, which are segregated in time by alternating cycles of the theta rhythm. Here, we discuss how information is temporally organized by these brain regions supported by the medial septum, nucleus reuniens, and parahippocampal regions. Finally, we highlight a brain circuit that we predict is essential for the temporal segregation of future scenarios.

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.

Epistemic Autonomy: Self-supervised Learning in the Mammalian Hippocampus

Biological cognition is based on the ability to autonomously acquire knowledge, or epistemic autonomy. Such self-supervision is largely absent in artificial neural networks (ANN) because they depend on externally set learning criteria. Yet training ANN using error backpropagation has created the current revolution in artificial intelligence, raising the question of whether the epistemic autonomy displayed in biological cognition can be achieved with error backpropagation-based learning. We present evidence suggesting that the entorhinal-hippocampal complex combines epistemic autonomy with error backpropagation. Specifically, we propose that the hippocampus minimizes the error between its input and output signals through a modulatory counter-current inhibitory network. We further discuss the computational emulation of this principle and analyze it in the context of autonomous cognitive systems.

A computational grid-to-place-cell transformation model indicates a synaptic driver of place cell impairment in early-stage Alzheimer's Disease

Alzheimer's Disease (AD) is characterized by progressive neurodegeneration and cognitive impairment. Synaptic dysfunction is an established early symptom, which correlates strongly with cognitive decline, and is hypothesised to mediate the diverse neuronal network abnormalities observed in AD. However, how synaptic dysfunction contributes to network pathology and cognitive impairment in AD remains elusive. Here, we present a grid-cell-to-place-cell transformation model of long-term CA1 place cell dynamics to interrogate the effect of synaptic loss on network function and environmental representation. Synapse loss modelled after experimental observations in the APP/PS1 mouse model was found to induce firing rate alterations and place cell abnormalities that have previously been observed in AD mouse models, including enlarged place fields and lower across-session stability of place fields. Our results support the hypothesis that synaptic dysfunction underlies cognitive deficits, and demonstrate how impaired environmental representation may arise in the early stages of AD. We further propose that dysfunction of excitatory and inhibitory inputs to CA1 pyramidal cells may cause distinct impairments in place cell function, namely reduced stability and place map resolution.

Biomimetic FPGA-based spatial navigation model with grid cells and place cells

The mammalian spatial navigation system is characterized by an initial divergence of internal representations, with disparate classes of neurons responding to distinct features including location, speed, borders and head direction; an ensuing convergence finally enables navigation and path integration. Here, we report the algorithmic and hardware implementation of biomimetic neural structures encompassing a feed-forward trimodular, multi-layer architecture representing grid-cell, place-cell and decoding modules for navigation. The grid-cell module comprised of neurons that fired in a grid-like pattern, and was built of distinct layers that constituted the dorsoventral span of the medial entorhinal cortex. Each layer was built as an independent continuous attractor network with distinct grid-field spatial scales. The place-cell module comprised of neurons that fired at one or few spatial locations, organized into different clusters based on convergent modular inputs from different grid-cell layers, replicating the gradient in place-field size along the hippocampal dorso-ventral axis. The decoding module, a two-layer neural network that constitutes the convergence of the divergent representations in preceding modules, received inputs from the place-cell module and provided specific coordinates of the navigating object. After vital design optimizations involving all modules, we implemented the tri-modular structure on Zynq Ultrascale+ field-programmable gate array silicon chip, and demonstrated its capacity in precisely estimating the navigational trajectory with minimal overall resource consumption involving a mere 2.92% Look Up Table utilization. Our implementation of a biomimetic, digital spatial navigation system is stable, reliable, reconfigurable, real-time with execution time of about 32 s for 100k input samples (in contrast to 40 minutes on Intel Core i7-7700 CPU with 8 cores clocking at 3.60 GHz) and thus can be deployed for autonomous-robotic navigation without requiring additional sensors.

Multi-Scale Extension in an Entorhinal-Hippocampal Model for Cognitive Map Building

Neuroscience research shows that, by relying on internal spatial representations provided by the hippocampus and entorhinal cortex, mammals are able to build topological maps of environments and navigate. Taking inspiration from mammals' spatial cognition mechanism, entorhinal-hippocampal cognitive systems have been proposed for robots to build cognitive maps. However, path integration and vision processing are time-consuming, and the existing model of grid cells is hard to achieve in terms of adaptive multi-scale extension for different environments, resulting in the lack of viability for real environments. In this work, an optimized dynamical model of grid cells is built for path integration in which recurrent weight connections between grid cells are parameterized in a more optimized way and the non-linearity of sigmoidal neural transfer function is utilized to enhance grid cell activity packets. Grid firing patterns with specific spatial scales can thus be accurately achieved for the multi-scale extension of grid cells. In addition, a hierarchical vision processing mechanism is proposed for speeding up loop closure detection. Experiment results on the robotic platform demonstrate that our proposed entorhinal-hippocampal model can successfully build cognitive maps, reflecting the robot's spatial experience and environmental topological structures.

A Brain-Inspired Adaptive Space Representation Model Based on Grid Cells and Place Cells

Grid cells and place cells are important neurons in the animal brain. The information transmission between them provides the basis for the spatial representation and navigation of animals and also provides reference for the research on the autonomous navigation mechanism of intelligent agents. Grid cells are important information source of place cells. The supervised learning and unsupervised learning models can be used to simulate the generation of place cells from grid cell inputs. However, the existing models preset the firing characteristics of grid cell. In this paper, we propose a united generation model of grid cells and place cells. First, the visual place cells with nonuniform distribution generate the visual grid cells with regional firing field through feedforward network. Second, the visual grid cells and the self-motion information generate the united grid cells whose firing fields extend to the whole space through genetic algorithm. Finally, the visual place cells and the united grid cells generate the united place cells with uniform distribution through supervised fuzzy adaptive resonance theory (ART) network. Simulation results show that this model has stronger environmental adaptability and can provide reference for the research on spatial representation model and brain-inspired navigation mechanism of intelligent agents under the condition of nonuniform environmental information.

Cognitive swarming in complex environments with attractor dynamics and oscillatory computing

Neurobiological theories of spatial cognition developed with respect to recording data from relatively small and/or simplistic environments compared to animals' natural habitats. It has been unclear how to extend theoretical models to large or complex spaces. Complementarily, in autonomous systems technology, applications have been growing for distributed control methods that scale to large numbers of low-footprint mobile platforms. Animals and many-robot groups must solve common problems of navigating complex and uncertain environments. Here, we introduce the NeuroSwarms control framework to investigate whether adaptive, autonomous swarm control of minimal artificial agents can be achieved by direct analogy to neural circuits of rodent spatial cognition. NeuroSwarms analogizes agents to neurons and swarming groups to recurrent networks. We implemented neuron-like agent interactions in which mutually visible agents operate as if they were reciprocally connected place cells in an attractor network. We attributed a phase state to agents to enable patterns of oscillatory synchronization similar to hippocampal models of theta-rhythmic (5-12 Hz) sequence generation. We demonstrate that multi-agent swarming and reward-approach dynamics can be expressed as a mobile form of Hebbian learning and that NeuroSwarms supports a single-entity paradigm that directly informs theoretical models of animal cognition. We present emergent behaviors including phase-organized rings and trajectory sequences that interact with environmental cues and geometry in large, fragmented mazes. Thus, NeuroSwarms is a model artificial spatial system that integrates autonomous control and theoretical neuroscience to potentially uncover common principles to advance both domains.

Spatiotemporally random and diverse grid cell spike patterns contribute to the transformation of grid cell to place cell in a neural network model

The medial entorhinal cortex and the hippocampus are brain regions specialized in spatial information processing. While an animal navigates around an environment, grid cells in the medial entorhinal cortex spike at multiple discrete locations, forming hexagonal grid patterns, and each grid cell is spatiotemporally dynamic with a different grid size, spacing, and orientation. In contrast, place cells in the hippocampus spike when an animal is at one or more specific locations, called a “place field”. While an animal traverses through a place field, the place cell’s spike phases relative to the hippocampal theta-frequency oscillation advance in phase, known as the “spike phase precession” phenomenon and each spike encodes the specific location within the place field. Interestingly, the medial entorhinal cortical grid cells and the hippocampal place cells are only one excitatory synapse apart. However, how the spatiotemporally dynamic multi-peaked grid cell activities are transformed into hippocampal place cell activities with spike phase precession phenomenon is yet unknown. To address this question, we construct an anatomically and physiologically realistic neural network model comprised of 10,000 grid cell models, each with a spatiotemporally dynamic grid patterns and a place cell model connected by excitatory synapses. Using this neural network model, we show that grid cells’ spike activities with spatiotemporally random and diverse grid orientation, spacing, and phases as inputs to place cell are able to generate a place field with spike phase precession. These results indicate that spatiotemporally random and diverse grid cell spike activities are essential for the formation of place cell activity observed in vivo.

Hippocampal place cell encoding of sloping terrain

Effective navigation relies on knowledge of one's environment. A challenge to effective navigation is accounting for the time and energy costs of routes. Irregular terrain in ecological environments poses a difficult navigational problem as organisms ought to avoid effortful slopes to minimize travel costs. Route planning and navigation have previously been shown to involve hippocampal place cells and their ability to encode and store information about an organism's environment. However, little is known about how place cells may encode the slope of space and associated energy costs as experiments are traditionally carried out in flat, horizontal environments. We set out to investigate how dorsal-CA1 place cells in rats encode systematic changes to the slope of an environment by tilting a shuttle box from flat to 15 ° and 25 ° while minimizing external cue change. Overall, place cell encoding of tilted space was as robust as their encoding of flat ground as measured by traditional place cell metrics such as firing rates, spatial information, coherence, and field size. A large majority of place cells did, however, respond to slope by undergoing partial, complex remapping when the environment was shifted from one tilt angle to another. The propensity for place cells to remap did not, however, depend on the vertical distance the field shifted. Changes in slope also altered the temporal coding of information as measured by the rate of theta phase precession of place cell spikes, which decreased with increasing tilt angles. Together these observations indicate that place cells are sensitive to relatively small changes in terrain slope and that terrain slope may be an important source of information for organizing place cell ensembles. The terrain slope information encoded by place cells could be utilized by efferent regions to determine energetically advantageous routes to goal locations.

Functional properties of stellate cells in medial entorhinal cortex layer II

Layer II of the medial entorhinal cortex (MEC) contains two principal cell types: pyramidal cells and stellate cells. Accumulating evidence suggests that these two cell types have distinct molecular profiles, physiological properties, and connectivity. The observations hint at a fundamental functional difference between the two cell populations but conclusions have been mixed. Here, we used a tTA-based transgenic mouse line to drive expression of ArchT, an optogenetic silencer, specifically in stellate cells. We were able to optogenetically identify stellate cells and characterize their firing properties in freely moving mice. The stellate cell population included cells from a range of functional cell classes. Roughly one in four of the tagged cells were grid cells, suggesting that stellate cells contribute not only to path-integration-based representation of self-location but also have other functions. The data support observations suggesting that grid cells are not the sole determinant of place cell firing.

Heterogeneity in hippocampal place coding

The discovery of place cells provided fundamental insight into the neural basis by which the hippocampus encodes spatial memories and supports navigation and prompted the development of computational models to explain the emergence of their spatial selectively. Many such works posit that input from entorhinal grid cells is critical to the formation of place fields, a prediction that has received mixed experimental support. Potentially reconciling seemingly conflicting findings is recent work indicating that subpopulations of pyramidal neurons are functionally distinct and may be driven to varying degrees by different inputs. Additionally, new studies have demonstrated that hippocampal principal neurons encode a myriad of features extending beyond current position. Here, we highlight recent evidence for how extensive heterogeneity in connectivity and genetic expression could interact with membrane biophysics to enable place cells to encode a diverse range of stimuli. These recent findings highlight the need for more computational models that integrate these heterogeneous features of hippocampal principal neurons.

Learning place cells, grid cells and invariances with excitatory and inhibitory plasticity

Neurons in the hippocampus and adjacent brain areas show a large diversity in their tuning to location and head direction, and the underlying circuit mechanisms are not yet resolved. In particular, it is unclear why certain cell types are selective to one spatial variable, but invariant to another. For example, place cells are typically invariant to head direction. We propose that all observed spatial tuning patterns - in both their selectivity and their invariance - arise from the same mechanism: Excitatory and inhibitory synaptic plasticity driven by the spatial tuning statistics of synaptic inputs. Using simulations and a mathematical analysis, we show that combined excitatory and inhibitory plasticity can lead to localized, grid-like or invariant activity. Combinations of different input statistics along different spatial dimensions reproduce all major spatial tuning patterns observed in rodents. Our proposed model is robust to changes in parameters, develops patterns on behavioral timescales and makes distinctive experimental predictions.

Navigational Strategies and Their Neural Correlates

Animals depend on navigation to find food, water, mate(s), shelter, etc. Different species use diverse strategies that utilise forms of motion- and location-related information derived from the environment to navigate to their goals and back. We start by describing behavioural studies undertaken to unearth different strategies used in navigation. Then we move on to outline what we know about the brain area most associated with spatial navigation, namely the hippocampal formation. While doing so, we first briefly explain the anatomical connections in the area and then proceed to describe the neural correlates that are considered to play a role in navigation. We conclude by looking at how the strategies might interact and complement each other in certain contexts.

Spatial representation in the hippocampal formation: a history

Since the first place cell was recorded and the cognitive-map theory was subsequently formulated, investigation of spatial representation in the hippocampal formation has evolved in stages. Early studies sought to verify the spatial nature of place cell activity and determine its sensory origin. A new epoch started with the discovery of head direction cells and the realization of the importance of angular and linear movement-integration in generating spatial maps. A third epoch began when investigators turned their attention to the entorhinal cortex, which led to the discovery of grid cells and border cells. This review will show how ideas about integration of self-motion cues have shaped our understanding of spatial representation in hippocampal-entorhinal systems from the 1970s until today. It is now possible to investigate how specialized cell types of these systems work together, and spatial mapping may become one of the first cognitive functions to be understood in mechanistic detail.

A Novel Mechanism for the Grid-to-Place Cell Transformation Revealed by Transgenic Depolarization of Medial Entorhinal Cortex Layer II

The spatial receptive fields of neurons in medial entorhinal cortex layer II (MECII) and in the hippocampus suggest general and environment-specific maps of space, respectively. However, the relationship between these receptive fields remains unclear. We reversibly manipulated the activity of MECII neurons via chemogenetic receptors and compared the changes in downstream hippocampal place cells to those of neurons in MEC. Depolarization of MECII impaired spatial memory and elicited drastic changes in CA1 place cells in a familiar environment, similar to those seen during remapping between distinct environments, while hyperpolarization did not. In contrast, both manipulations altered the firing rate of MEC neurons without changing their firing locations. Interestingly, only depolarization caused significant changes in the relative firing rates of individual grid fields, reconfiguring the spatial input from MEC. This suggests a novel mechanism of hippocampal remapping whereby rate changes in MEC neurons lead to locational changes of hippocampal place fields.

From grid cells to place cells with realistic field sizes

While grid cells in the medial entorhinal cortex (MEC) of rodents have multiple, regularly arranged firing fields, place cells in the cornu ammonis (CA) regions of the hippocampus mostly have single spatial firing fields. Since there are extensive projections from MEC to the CA regions, many models have suggested that a feedforward network can transform grid cell firing into robust place cell firing. However, these models generate place fields that are consistently too small compared to those recorded in experiments. Here, we argue that it is implausible that grid cell activity alone can be transformed into place cells with robust place fields of realistic size in a feedforward network. We propose two solutions to this problem. Firstly, weakly spatially modulated cells, which are abundant throughout EC, provide input to downstream place cells along with grid cells. This simple model reproduces many place cell characteristics as well as results from lesion studies. Secondly, the recurrent connections between place cells in the CA3 network generate robust and realistic place fields. Both mechanisms could work in parallel in the hippocampal formation and this redundancy might account for the robustness of place cell responses to a range of disruptions of the hippocampal circuitry.

Experience-dependent shaping of hippocampal CA1 intracellular activity in novel and familiar environments

The hippocampus is critical for producing stable representations of familiar spaces. How these representations arise is poorly understood, largely because changes to hippocampal inputs have not been measured during spatial learning. Here, using intracellular recording, we monitored inputs and plasticity-inducing complex spikes (CSs) in CA1 neurons while mice explored novel and familiar virtual environments. Inputs driving place field spiking increased in amplitude – often suddenly – during novel environment exploration. However, these increases were not sustained in familiar environments. Rather, the spatial tuning of inputs became increasingly similar across repeated traversals of the environment with experience – both within fields and throughout the whole environment. In novel environments, CSs were not necessary for place field formation. Our findings support a model in which initial inhomogeneities in inputs are amplified to produce robust place field activity, then plasticity refines this representation into one with less strongly modulated, but more stable, inputs for long-term storage.

DOI:http://dx.doi.org/10.7554/eLife.23040.001

Pattern separation in the hippocampus through the eyes of computational modeling

Pattern separation is a mnemonic process that has been extensively studied over the years. It entails the ability -of primarily hippocampal circuits- to distinguish between highly similar inputs, via generating different neuronal activity (output) patterns. The dentate gyrus (DG) in particular has long been hypothesized to implement pattern separation by detecting and storing similar inputs as distinct representations. The ways in which these distinct representations can be generated have been explored in a number of theoretical and computational modeling studies. Here, we review two categories of pattern separation models: those that address the phenomenon in an abstract mathematical fashion and those that delve into the underlying biological mechanisms by taking into account the anatomy and/or physiology of hippocampal circuits. We summarize the strategies, findings and limitations of these modeling approaches in the light of new experimental findings and propose a unifying framework whereby different network, cellular and sub-cellular mechanisms converge to a common goal: controlling sparsity, the key determinant of pattern separation in the DG.

Spatial Representations of Granule Cells and Mossy Cells of the Dentate Gyrus

Granule cells in the dentate gyrus of the hippocampus are thought to be essential to memory function by decorrelating overlapping input patterns (pattern separation). A second excitatory cell type in the dentate gyrus, the mossy cell, forms an intricate circuit with granule cells, CA3c pyramidal cells, and local interneurons, but the influence of mossy cells on dentate function is often overlooked. Multiple tetrode recordings, supported by juxtacellular recording techniques, showed that granule cells fired very sparsely, whereas mossy cells in the hilus fired promiscuously in multiple locations and in multiple environments. The activity patterns of these cell types thus represent different environments through distinct computational mechanisms: sparse coding in granule cells and changes in firing field locations in mossy cells.

Framing of grid cells within and beyond navigation boundaries

Grid cells represent an ideal candidate to investigate the allocentric determinants of the brain's cognitive map. Most studies of grid cells emphasized the roles of geometric boundaries within the navigational range of the animal. Behaviors such as novel route-taking between local environments indicate the presence of additional inputs from remote cues beyond the navigational borders. To investigate these influences, we recorded grid cells as rats explored an open-field platform in a room with salient, remote cues. The platform was rotated or translated relative to the room frame of reference. Although the local, geometric frame of reference often exerted the strongest control over the grids, the remote cues demonstrated a consistent, sometimes dominant, countervailing influence. Thus, grid cells are controlled by both local geometric boundaries and remote spatial cues, consistent with prior studies of hippocampal place cells and providing a rich representational repertoire to support complex navigational (and perhaps mnemonic) processes.

Megamap: flexible representation of a large space embedded with nonspatial information by a hippocampal attractor network

The problem of how the hippocampus encodes both spatial and nonspatial information at the cellular network level remains largely unresolved. Spatial memory is widely modeled through the theoretical framework of attractor networks, but standard computational models can only represent spaces that are much smaller than the natural habitat of an animal. We propose that hippocampal networks are built on a basic unit called a "megamap," or a cognitive attractor map in which place cells are flexibly recombined to represent a large space. Its inherent flexibility gives the megamap a huge representational capacity and enables the hippocampus to simultaneously represent multiple learned memories and naturally carry nonspatial information at no additional cost. On the other hand, the megamap is dynamically stable, because the underlying network of place cells robustly encodes any location in a large environment given a weak or incomplete input signal from the upstream entorhinal cortex. Our results suggest a general computational strategy by which a hippocampal network enjoys the stability of attractor dynamics without sacrificing the flexibility needed to represent a complex, changing world.

Ten Years of Grid Cells

The medial entorhinal cortex (MEC) creates a neural representation of space through a set of functionally dedicated cell types: grid cells, border cells, head direction cells, and speed cells. Grid cells, the most abundant functional cell type in the MEC, have hexagonally arranged firing fields that tile the surface of the environment. These cells were discovered only in 2005, but after 10 years of investigation, we are beginning to understand how they are organized in the MEC network, how their periodic firing fields might be generated, how they are shaped by properties of the environment, and how they interact with the rest of the MEC network. The aim of this review is to summarize what we know about grid cells and point out where our knowledge is still incomplete.

Neuromorphic VLSI realization of the hippocampal formation

The medial entorhinal cortex grid cells, aided by the subicular head direction cells, are thought to provide a matrix which is utilized by the hippocampal place cells for calculation of position of an animal during spatial navigation. The place cells are thought to function as an internal GPS for the brain and provide a spatiotemporal stamp on episodic memories. Several computational neuroscience models have been proposed to explain the place specific firing patterns of the cells of the hippocampal formation - including the GRIDSmap model for grid cells and Bayesian integration for place cells. In this work, we present design and measurement results from a first ever system of silicon circuits which successfully realize the function of the hippocampal formation of brain based on these models.

Hippocampal Remapping after Partial Inactivation of the Medial Entorhinal Cortex

Hippocampal place cells undergo remapping when the environment is changed. The mechanism of hippocampal remapping remains elusive but spatially modulated cells in the medial entorhinal cortex (MEC) have been identified as a possible contributor. Using pharmacogenetic and optogenetic approaches, we tested the role of MEC cells by examining in mice whether partial inactivation in MEC shifts hippocampal activity to a different subset of place cells with different receptive fields. The pharmacologically selective designer Gi-protein-coupled muscarinic receptor hM4D or the light-responsive microbial proton pump archaerhodopsin (ArchT) was expressed in MEC, and place cells were recorded after application of the inert ligand clozapine-N-oxide (CNO) or light at appropriate wavelengths. CNO or light caused partial inactivation of the MEC. The inactivation was followed by substantial remapping in the hippocampus, without disruption of the spatial firing properties of individual neurons. The results point to MEC input as an element of the mechanism for remapping in place cells.

Social and novel contexts modify hippocampal CA2 representations of space

The hippocampus supports a cognitive map of space and is critical for encoding declarative memory (who, what, when and where). Recent studies have implicated hippocampal subfield CA2 in social and contextual memory but how it does so remains unknown. Here we find that in adult male rats, presentation of a social stimulus (novel or familiar rat) or a novel object induces global remapping of place fields in CA2 with no effect on neuronal firing rate or immediate early gene expression. This remapping did not occur in CA1, suggesting this effect is specific for CA2. Thus, modification of existing spatial representations might be a potential mechanism by which CA2 encodes social and novel contextual information.

Transient optogenetic inactivation of the medial entorhinal cortex biases the active population of hippocampal neurons

The mechanisms that enable the hippocampal network to express the appropriate spatial representation for a particular circumstance are not well understood. Previous studies suggest that the medial entorhinal cortex (MEC) may have a role in reproducibly selecting the hippocampal representation of an environment. To examine how ongoing MEC activity is continually integrated by the hippocampus, we performed transient unilateral optogenetic inactivations of the MEC while simultaneously recording place cell activity in CA1. Inactivation of the MEC caused a partial remapping in the CA1 population without diminishing the degree of spatial tuning across the active cell assembly. These changes remained stable irrespective of intermittent disruption of MEC input, indicating that while MEC input is integrated over long time scales to bias the active population, there are mechanisms for stabilizing the population of active neurons independent of the MEC. We find that MEC inputs to the hippocampus shape its ongoing activity by biasing the participation of the neurons in the active network, thereby influencing how the hippocampus selectively represents information.

Inheritance of Hippocampal Place Fields Through Hebbian Learning: Effects of Theta Modulation and Phase Precession on Structure Formation

A place cell is a neuron that fires whenever the animal traverses a particular location of the environment—the place field of the cell. Place cells are found in two regions of the rodent hippocampus: CA3 and CA1. Motivated by the anatomical connectivity between these two regions and by the evidence for synaptic plasticity at these connections, we study how a place field in CA1 can be inherited from an upstream region such as CA3 through a Hebbian learning rule, in particular, through spike-timing-dependent plasticity (STDP). To this end, we model a population of CA3 place cells projecting to a single CA1 cell, and we assume that the CA1 input synapses are plastic according to STDP. With both numerical and analytical methods, we show that in the case of overlapping CA3 input place fields, the STDP learning rule leads to the formation of a place field in CA1. We then investigate the roles of the hippocampal theta modulation and phase precession on the inheritance process. We find that theta modulation favors the inheritance and leads to faster place field formation whereas phase precession changes the drift of CA1 place fields over time.

Memory storage fidelity in the hippocampal circuit: the role of subregions and input statistics

In the last decades a standard model regarding the function of the hippocampus in memory formation has been established and tested computationally. It has been argued that the CA3 region works as an auto-associative memory and that its recurrent fibers are the actual storing place of the memories. Furthermore, to work properly CA3 requires memory patterns that are mutually uncorrelated. It has been suggested that the dentate gyrus orthogonalizes the patterns before storage, a process known as pattern separation. In this study we review the model when random input patterns are presented for storage and investigate whether it is capable of storing patterns of more realistic entorhinal grid cell input. Surprisingly, we find that an auto-associative CA3 net is redundant for random inputs up to moderate noise levels and is only beneficial at high noise levels. When grid cell input is presented, auto-association is even harmful for memory performance at all levels. Furthermore, we find that Hebbian learning in the dentate gyrus does not support its function as a pattern separator. These findings challenge the standard framework and support an alternative view where the simpler EC-CA1-EC network is sufficient for memory storage.

Inhibitory control of site-specific synaptic plasticity in a model CA1 pyramidal neuron

A computational model of a biochemical network underlying synaptic plasticity is combined with simulated on-going electrical activity in a model of a hippocampal pyramidal neuron to study the impact of synapse location and inhibition on synaptic plasticity. The simulated pyramidal neuron is activated by the realistic stimulation protocol of causal and anticausal spike pairings of presynaptic and postsynaptic action potentials in the presence and absence of spatially targeted inhibition provided by basket, bistratified and oriens-lacunosum moleculare (OLM) interneurons. The resulting Spike-timing-dependent plasticity (STDP) curves depend strongly on the number of pairing repetitions, the synapse location and the timing and strength of inhibition.

Place cells, grid cells, and memory

The hippocampal system is critical for storage and retrieval of declarative memories, including memories for locations and events that take place at those locations. Spatial memories place high demands on capacity. Memories must be distinct to be recalled without interference and encoding must be fast. Recent studies have indicated that hippocampal networks allow for fast storage of large quantities of uncorrelated spatial information. The aim of the this article is to review and discuss some of this work, taking as a starting point the discovery of multiple functionally specialized cell types of the hippocampal-entorhinal circuit, such as place, grid, and border cells. We will show that grid cells provide the hippocampus with a metric, as well as a putative mechanism for decorrelation of representations, that the formation of environment-specific place maps depends on mechanisms for long-term plasticity in the hippocampus, and that long-term spatiotemporal memory storage may depend on offline consolidation processes related to sharp-wave ripple activity in the hippocampus. The multitude of representations generated through interactions between a variety of functionally specialized cell types in the entorhinal-hippocampal circuit may be at the heart of the mechanism for declarative memory formation.

Beyond the bolus: transgenic tools for investigating the neurophysiology of learning and memory

Understanding the neural mechanisms underlying learning and memory in the entorhinal-hippocampal circuit is a central challenge of systems neuroscience. For more than 40 years, electrophysiological recordings in awake, behaving animals have been used to relate the receptive fields of neurons in this circuit to learning and memory. However, the vast majority of such studies are purely observational, as electrical, surgical, and pharmacological circuit manipulations are both challenging and relatively coarse, being unable to distinguish between specific classes of neurons. Recent advances in molecular genetic tools can overcome many of these limitations, enabling unprecedented control over neural activity in behaving animals. Expression of pharmaco- or optogenetic transgenes in cell-type-specific "driver" lines provides unparalleled anatomical and cell-type specificity, especially when delivered by viral complementation. Pharmacogenetic transgenes are specially designed neurotransmitter receptors exclusively activated by otherwise inactive synthetic ligands and have kinetics similar to traditional pharmacology. Optogenetic transgenes use light to control the membrane potential, and thereby operate at the millisecond timescale. Thus, activation of pharmacogenetic transgenes in specific neuronal cell types while recording from other parts of the circuit allows investigation of the role of those neurons in the steady state, whereas optogenetic transgenes allow one to determine the immediate network response.

Modeling inheritance of phase precession in the hippocampal formation

Spatial information about the environment is encoded by the activity of place and grid cells in the hippocampal formation. As an animal traverses a cell's firing field, action potentials progressively shift to earlier phases of the theta oscillation (6-10 Hz). This "phase precession" is observed also in the prefrontal cortex and the ventral striatum, but mechanisms for its generation are unknown. However, once phase precession exists in one region, it might also propagate to downstream regions. Using a computational model, we analyze such inheritance of phase precession, for example, from the entorhinal cortex to CA1 and from CA3 to CA1. We find that distinctive subthreshold and suprathreshold features of the membrane potential of CA1 pyramidal cells (Harvey et al., 2009; Mizuseki et al., 2012; Royer et al., 2012) can be explained by inheritance and that excitatory input is essential. The model explains how inhibition modulates the slope and range of phase precession and provides two main testable predictions. First, theta-modulated inhibitory input to a CA1 pyramidal cell is not necessary for phase precession. Second, theta-modulated inhibitory input on its own generates membrane potential peaks that are in phase with peaks of the extracellular field. Furthermore, we suggest that the spatial distribution of field centers of a population of phase-precessing input cells determines, not only the place selectivity, but also the characteristics of phase precession of the targeted output cell. The inheritance model thus can explain why phase precession is observed throughout the hippocampal formation and other areas of the brain.

New and distinct hippocampal place codes are generated in a new environment during septal inactivation

The hippocampus generates distinct neural codes to disambiguate similar experiences, a process thought to underlie episodic memory function. Entorhinal grid cells provide a prominent spatial signal to hippocampus, and changes in their firing pattern could thus generate a distinct spatial code in each context. We examined whether we would preclude the emergence of new spatial representations in a novel environment during muscimol inactivation of the medial septal area, a manipulation known to disrupt theta oscillations and grid cell firing. We found that new, highly distinct configurations of place fields emerged immediately and remained stable during the septal inactivation. The new place code persisted when theta oscillations had recovered. Theta rhythmicity and feedforward input from grid cell networks were thus not required to generate new spatial representations in the hippocampus.

Grid cells and cortical representation

One of the grand challenges in neuroscience is to comprehend neural computation in the association cortices, the parts of the cortex that have shown the largest expansion and differentiation during mammalian evolution and that are thought to contribute profoundly to the emergence of advanced cognition in humans. In this Review, we use grid cells in the medial entorhinal cortex as a gateway to understand network computation at a stage of cortical processing in which firing patterns are shaped not primarily by incoming sensory signals but to a large extent by the intrinsic properties of the local circuit.

CA3 retrieves coherent representations from degraded input: direct evidence for CA3 pattern completion and dentate gyrus pattern separation

Theories of associative memory suggest that successful memory storage and recall depend on a balance between two complementary processes: pattern separation (to minimize interference) and pattern completion (to retrieve a memory when presented with partial or degraded input cues). Putative attractor circuitry in the hippocampal CA3 region is thought to be the final arbiter between these two processes. Here we present direct, quantitative evidence that CA3 produces an output pattern closer to the originally stored representation than its degraded input patterns from the dentate gyrus (DG). We simultaneously recorded activity from CA3 and DG of behaving rats when local and global reference frames were placed in conflict. CA3 showed a coherent population response to the conflict (pattern completion), even though its DG inputs were severely disrupted (pattern separation). The results thus confirm the hallmark predictions of a longstanding computational model of hippocampal memory processing.

Representation of geometric borders in the developing rat

Local space is represented by a number of functionally specific cell types, including place cells in the hippocampus and grid cells, head direction cells, and border cells in the medial entorhinal cortex (MEC). These cells form a functional map of external space already at the time when rat pups leave the nest for the first time in their life, at the age of 2.5 weeks. However, while place cells have adult-like firing fields from the outset, grid cells have irregular and variable fields until the fourth week, raising doubts about their contribution to place cell firing at young age. Recording in MEC of juvenile rats, we show that, unlike grid cells, border cells express adult-like firing fields from the first days of exposure to an open environment, at postnatal days 16-18. Thus, spatial signals from border cells may be sufficient to maintain spatially localized firing in juvenile hippocampal place cells.

What do grid cells contribute to place cell firing?

The unitary firing fields of hippocampal place cells are commonly assumed to be generated by input from entorhinal grid cell modules with differing spatial scales. Here, we review recent research that brings this assumption into doubt. Instead, we propose that place cell spatial firing patterns are determined by environmental sensory inputs, including those representing the distance and direction to environmental boundaries, while grid cells provide a complementary self-motion related input that contributes to maintaining place cell firing. In this view, grid and place cell firing patterns are not successive stages of a processing hierarchy, but complementary and interacting representations that work in combination to support the reliable coding of large-scale space.