Neural Code of Motor Planning and Execution during Goal-Directed Movements in Crows

Input and Output Connections of the Crow Nidopallium Caudolaterale

The avian telencephalic structure nidopallium caudolaterale (NCL) functions as an analog to the mammalian prefrontal cortex. In crows, corvid songbirds, it plays a crucial role in higher cognitive and executive functions. These functions rely on the NCL's extensive telencephalic connections. However, systematic investigations into the brain-wide connectivity of the NCL in crows or other songbirds are lacking. Here, we studied its input and output connections by injecting retrograde and anterograde tracers into the carrion crow NCL. Our results, mapped onto a published carrion crow brain atlas, confirm NCL multisensory connections and extend prior pigeon findings by identifying a novel input from the hippocampal formation. Furthermore, we analyze crow NCL efferent projections to the arcopallium and report newly identified arcopallial neurons projecting bilaterally to the NCL. These findings help to clarify the role of the NCL as central executive hub in the corvid songbird brain.

Hummingbirds use distinct control strategies for forward and hovering flight

The detection of optic flow is important for generating optomotor responses to mediate retinal image stabilization, and it can also be used during ongoing locomotion for centring and velocity control. Previous work in hummingbirds has separately examined the roles of optic flow during hovering and when centring through a narrow passage during forward flight. To develop a hypothesis for the visual control of forward flight velocity, we examined the behaviour of hummingbirds in a flight tunnel where optic flow could be systematically manipulated. In all treatments, the animals exhibited periods of forward flight interspersed with bouts of spontaneous hovering. Hummingbirds flew fastest when they had a reliable signal of optic flow. All optic flow manipulations caused slower flight, suggesting that hummingbirds had an expected optic flow magnitude that was disrupted. In addition, upward and downward optic flow drove optomotor responses for maintaining altitude during forward flight. When hummingbirds made voluntary transitions to hovering, optomotor responses were observed to all directions. Collectively, these results are consistent with hummingbirds controlling flight speed via mechanisms that use an internal forward model to predict expected optic flow whereas flight altitude and hovering position are controlled more directly by sensory feedback from the environment.

Convergent Circuit Computation for Categorization in the Brains of Primates and Songbirds

Categorization is crucial for behavioral flexibility because it enables animals to group stimuli into meaningful classes that can easily be generalized to new circumstances. A most abstract quantitative category is set size, the number of elements in a set. This review explores how categorical number representations are realized by the operations of excitatory and inhibitory neurons in associative telencephalic microcircuits in primates and songbirds. Despite the independent evolution of the primate prefrontal cortex and the avian nidopallium caudolaterale, the neuronal computations of these associative pallial circuits show surprising correspondence. Comparing cellular functions in distantly related taxa can inform about the evolutionary principles of circuit computations for cognition in distinctly but convergently realized brain structures.

Association neurons in the crow telencephalon link visual signs to numerical values

Many animals can associate signs with numerical values and use these signs in a goal-directed way during task performance. However, the neuronal basis of this semantic association has only rarely been investigated, and so far only in primates. How mechanisms of number associations are implemented in the distinctly evolved brains of other animal taxa such as birds is currently unknown. Here, we explored this semantic number-sign mapping by recording single-neuron activity in the crows' nidopallium caudolaterale (NCL), a brain structure critically involved in avian numerical cognition. Crows were trained to associate visual shapes with varying numbers of items in a number production task. The responses of many NCL neurons during stimulus presentation reflected the numerical values associated with visual shapes in a behaviorally relevant way. Consistent with the crow's better behavioral performance with signs, neuronal representations of numerical values extracted from shapes were more selective compared to those from dot arrays. The existence of number association neurons in crows points to a phylogenetic preadaptation of the brains of cognitively advanced vertebrates to link visual shapes with numerical meaning.

Categorical representation of abstract spatial magnitudes in the executive telencephalon of crows

The ability to group abstract continuous magnitudes into meaningful categories is cognitively demanding but key to intelligent behavior. To explore its neuronal mechanisms, we trained carrion crows to categorize lines of variable lengths into arbitrary "short" and "long" categories. Single-neuron activity in the nidopallium caudolaterale (NCL) of behaving crows reflected the learned length categories of visual stimuli. The length categories could be reliably decoded from neuronal population activity to predict the crows' conceptual decisions. NCL activity changed with learning when a crow was retrained with the same stimuli assigned to more categories with new boundaries ("short", "medium," and "long"). Categorical neuronal representations emerged dynamically so that sensory length information at the beginning of the trial was transformed into behaviorally relevant categorical representations shortly before the crows' decision making. Our data show malleable categorization capabilities for abstract spatial magnitudes mediated by the flexible networks of the crow NCL.

Lesions to Caudomedial Nidopallium Impair Individual Vocal Recognition in the Zebra Finch

Many social animals can recognize other individuals by their vocalizations. This requires a memory system capable of mapping incoming acoustic signals to one of many known individuals. Using the zebra finch, a social songbird that uses songs and distance calls to communicate individual identity (Elie and Theunissen, 2018), we tested the role of two cortical-like brain regions in a vocal recognition task. We found that the rostral region of the Cadomedial Nidopallium (NCM), a secondary auditory region of the avian pallium, was necessary for maintaining auditory memories for conspecific vocalizations in both male and female birds, whereas HVC (used as a proper name), a premotor areas that gates auditory input into the vocal motor and song learning pathways in male birds (Roberts and Mooney, 2013), was not. Both NCM and HVC have previously been implicated for processing the tutor song in the context of song learning (Sakata and Yazaki-Sugiyama, 2020). Our results suggest that NCM might not only store songs as templates for future vocal imitation but also songs and calls for perceptual discrimination of vocalizers in both male and female birds. NCM could therefore operate as a site for auditory memories for vocalizations used in various facets of communication. We also observed that new auditory memories could be acquired without intact HVC or NCM but that for these new memories NCM lesions caused deficits in either memory capacity or auditory discrimination. These results suggest that the high-capacity memory functions of the avian pallial auditory system depend on NCM.SIGNIFICANCE STATEMENT Many aspects of vocal communication require the formation of auditory memories. Voice recognition, for example, requires a memory for vocalizers to identify acoustical features. In both birds and primates, the locus and neural correlates of these high-level memories remain poorly described. Previous work suggests that this memory formation is mediated by high-level sensory areas, not traditional memory areas such as the hippocampus. Using lesion experiments, we show that one secondary auditory brain region in songbirds that had previously been implicated in storing song memories for vocal imitation is also implicated in storing vocal memories for individual recognition. The role of the neural circuits in this region in interpreting the meaning of communication calls should be investigated in the future.

Crows protect visual working memory against interference

Working memory, the ability to actively maintain and manipulate information across time, is key to intelligent behavior. Because of the limited capacity of working memory, relevant information needs to be protected against distracting representations. Whether birds can resist distractors and safeguard memorized relevant information is unclear. We trained carrion crows in a delayed match-to-sample task to memorize an image while resisting other, interfering stimuli. We found that the repetition of the sample stimulus during the memory delay improved performance accuracy and accelerated reaction time relative to a reference condition with a neutral interfering stimulus. In contrast, the presentation of the image that constituted the subsequent non-match test stimulus mildly weakened performance. However, the crows' robust performance in this most demanding distractor condition indicates that sample information was actively protected from being overwritten by the distractor. These data show that crows can cognitively control and safeguard behaviorally relevant working memory contents.

Neural correlates of cognitively controlled vocalizations in a corvid songbird

The neuronal basis of the songbird's song system is well understood. However, little is known about the neuronal correlates of the executive control of songbird vocalizations. Here, we record single-unit activity from the pallial endbrain region "nidopallium caudolaterale" (NCL) of crows that vocalize to the presentation of a visual go-cue but refrain from vocalizing during trials without a go-cue. We find that the preparatory activity of single vocalization-correlated neurons, but also of the entire population of NCL neurons, before vocal onset predicts whether or not the crows will produce an instructed vocalization. Fluctuations in baseline neuronal activity prior to the go-cue influence the premotor activity of such vocalization-correlated neurons and seemingly bias the crows' decision to vocalize. Neuronal response modulation significantly differs between volitional and task-unrelated vocalizations. This suggests that the NCL can take control over the vocal motor network during the production of volitional vocalizations in a corvid songbird.

Exogenous and endogenous spatial attention in crows

Attention describes the ability to selectively process a particular aspect of the environment at the expense of others. Despite the significance of selective processing, the types and scopes of attentional mechanisms in nonprimate species remain underexplored. We trained four carrion crows in Posner spatial cueing tasks using two separate protocols where the attention-capturing cues are shown at different times before target onset at either the same or a different location as the impending target. To probe automatic bottom-up, or exogenous, attention, two naïve crows were tested with a cue that had no predictive value concerning the location of the subsequent target. To examine volitional top-down, or endogenous, attention, the other two crows were tested with the previously learned cues that predicted the impending target location. Comparing the performance for valid (cue and target at same location) and invalid (cue and target at opposing locations) cues in the nonpredictive cue condition showed a transient, mild reaction time advantage signifying exogenous attention. In contrast, there was a strong and long-lasting performance advantage for the valid conditions with predictive cues indicating endogenous attention. Together, these results demonstrate that crows possess two different attention mechanisms (exogenous and endogenous). These findings signify that crows possess a substantial attentional capacity and robust cognitive control over attention allocation.

Number selective sensorimotor neurons in the crow translate perceived numerosity into number of actions

Translating a perceived number into a matching number of self-generated actions is a hallmark of numerical reasoning in humans and animals alike. To explore this sensorimotor transformation, we trained crows to judge numerical values in displays and to flexibly plan and perform a matching number of pecks. We report number selective sensorimotor neurons in the crow telencephalon that signaled the impending number of self-generated actions. Neuronal population activity during the sensorimotor transformation period predicted whether the crows mistakenly planned fewer or more pecks than instructed. During sensorimotor transformation, both a static neuronal code characterized by persistently number-selective neurons and a dynamic code originating from neurons carrying rapidly changing numerical information emerged. The findings indicate there are distinct functions of abstract neuronal codes supporting the sensorimotor number system.

A brain atlas of the carrion crow (Corvus corone)

Corvidae, passerine songbirds such as jays, crows, and ravens known as corvids, have become model systems for the study of avian cognition. The superior cognitive capabilities of corvids mainly emerge from a disproportionally large telencephalon found in these species. However, a systematic mapping of the neuroanatomy of the corvid brain, and the telencephalon in particular, is lacking so far. Here, we present a brain atlas of the carrion crow, Corvus corone, with special emphasis on the telencephalic pallium. We applied four staining techniques to brain slices (Nissl, myelin, combination of Nissl and myelin, and tyrosine hydroxylase targeting catecholaminergic neurons). This allowed us to identify brain nuclei throughout the brain and delineate the known pallial subdivisions termed hyperpallium, entopallium, mesopallium, nidopallium, arcopallium, and hippocampal complex. The extent of these subdivisions and brain nuclei are described according to stereotaxic coordinates. In addition, 3D depictions of pallial regions were reconstructed from these slices. While the overall organization of the carrion crow's brain matches other songbird brains, the relative proportions and expansions of associative pallial areas differ considerably in agreement with enhanced cognitive skills found in corvids. The presented global organization of the crow brain in stereotaxic coordinates will help to guide future neurobiological studies in corvids.

Cell-type specific pallial circuits shape categorical tuning responses in the crow telencephalon

The nidopallium caudolaterale (NCL), an integration centre in the telencephalon of birds, plays a crucial role in representing and maintaining abstract categories and concepts. However, the computational principles allowing pallial microcircuits consisting of excitatory and inhibitory neurons to shape the tuning to abstract categories remain elusive. Here we identified the major pallial cell types, putative excitatory projection cells and inhibitory interneurons, by characterizing the waveforms of action potentials recorded in crows performing a cognitively demanding numerical categorization task. Both cell types showed clear differences in their capacity to encode categorical information. Nearby and functionally coupled putative projection neurons generally exhibited similar tuning, whereas putative interneurons showed mainly opposite tuning. The results favour feedforward mechanisms for the shaping of categorical tuning in microcircuits of the NCL. Our findings help to decipher the workings of pallial microcircuits in birds during complex cognition and to compare them vis-a-vis neocortical processes in mammals.

Neural recordings from the caudolateral nidopallium in crows during a numerosity task suggest there are two subsets of projection neurons and inhibitory interneurons involved in complex cognition.

Behavioral and Neuronal Representation of Numerosity Zero in the Crow

Different species of animals can discriminate numerosity, the countable number of objects in a set. The representations of countable numerosities have been deciphered down to the level of single neurons. However, despite its importance for human number theory, a special numerical quantity, the empty set (numerosity zero), has remained largely unexplored. We explored the behavioral and neuronal representation of the empty set in carrion crows. Crows were trained to discriminate small numerosities including the empty set. Performance data showed a numerical distance effect for the empty set in one crow, suggesting that the empty set and countable numerosities are represented along the crows' "mental number line." Single-cell recordings in the endbrain region nidopallium caudolaterale (NCL) showed a considerable proportion of NCL neurons tuned to the preferred numerosity zero. As evidenced by neuronal distance and size effects, NCL neurons integrated the empty set in the neural number line. A subsequent neuronal population analysis using a statistical classifier approach showed that the neuronal numerical representations were predictive of the crows' success in the task. These behavioral and neuronal data suggests that the conception of the empty set as a cognitive precursor of a zero-like number concept is not an exclusive property of the cerebral cortex of primates. Zero as a quantitative category cannot only be implemented in the layered neocortex of primates, but also in the anatomically distinct endbrain circuitries of birds that evolved based on convergent evolution.SIGNIFICANCE STATEMENT The conception of "nothing" as number "zero" is celebrated as one of the greatest achievements in mathematics. To explore whether precursors of zero-like concepts can be found in vertebrates with a cerebrum that anatomically differs starkly from our primate brain, we investigated this in carrion crows. We show that crows can grasp the empty set as a null numerical quantity that is mentally represented next to number one. Moreover, we show that single neurons in an associative avian cerebral region specifically respond to the empty set and show the same physiological characteristics as for countable quantities. This suggests that zero as a quantitative category can also be implemented in the anatomically distinct endbrain circuitries of birds that evolved based on convergent evolution.

The Evolutionary History of Brains for Numbers

Humans and other animals share a number sense', an intuitive understanding of countable quantities. Having evolved independent from one another for hundreds of millions of years, the brains of these diverse species, including monkeys, crows, zebrafishes, bees, and squids, differ radically. However, in all vertebrates investigated, the pallium of the telencephalon has been implicated in number processing. This suggests that properties of the telencephalon make it ideally suited to host number representations that evolved by convergent evolution as a result of common selection pressures. In addition, promising candidate regions in the brains of invertebrates, such as insects, spiders, and cephalopods, can be identified, opening the possibility of even deeper commonalities for number sense.

Neuroethology of number sense across the animal kingdom

Many species from diverse and often distantly related animal groups (e.g. monkeys, crows, fish and bees) have a sense of number. This means that they can assess the number of items in a set - its 'numerosity'. The brains of these phylogenetically distant species are markedly diverse. This Review examines the fundamentally different types of brains and neural mechanisms that give rise to numerical competence across the animal tree of life. Neural correlates of the number sense so far exist only for specific vertebrate species: the richest data concerning explicit and abstract number representations have been collected from the cerebral cortex of mammals, most notably human and nonhuman primates, but also from the pallium of corvid songbirds, which evolved independently of the mammalian cortex. In contrast, the neural data relating to implicit and reflexive numerical representations in amphibians and fish is limited. The neural basis of a number sense has not been explored in any protostome so far. However, promising candidate regions in the brains of insects, spiders and cephalopods - all of which are known to have number skills - are identified in this Review. A comparative neuroscientific approach will be indispensable for identifying evolutionarily stable neuronal circuits and deciphering codes that give rise to a sense of number across phylogeny.