25 years of research on the use of geometry in spatial reorientation: a current theoretical perspective

Amphibian spatial cognition, medial pallium and other supporting telencephalic structures

Vertebrate hippocampal formation is central to conversations on the comparative analysis of spatial cognition, especially in light of variation found in different vertebrate classes. Assuming the medial pallium (MP) of extant amphibians resembles the hippocampal formation (HF) of ancestral stem tetrapods, we propose that the HF of modern amniotes began with a MP characterized by a relatively undifferentiated cytoarchitecture, more direct thalamic/olfactory sensory inputs, and a more generalized role in associative learning-memory processes. As such, hippocampal evolution in amniotes, especially mammals, can be seen as progressing toward a cytoarchitecture with well-defined subdivisions, regional connectivity, and a functional specialization supporting map-like representations of space. We then summarize a growing literature on amphibian spatial cognition and its underlying brain organization. Emphasizing the MP/HF, we highlight that further research into amphibian spatial cognition would provide novel insight into the role of the HF in spatial memory processes, and their supporting neural mechanisms. A more complete reconstruction of hippocampal evolution would benefit from additional research on non-mammalian vertebrates, with amphibians being of particular interest.

Distinct neural mechanisms for heading retrieval and context recognition in the hippocampus during spatial reorientation

Reorientation, the process of regaining one's bearings after becoming lost, requires identification of a spatial context (context recognition) and recovery of facing direction within that context (heading retrieval). We previously showed that these processes rely on the use of features and geometry, respectively. Here, we examine reorientation behavior in a task that creates contextual ambiguity over a long timescale to demonstrate that male mice learn to combine both featural and geometric cues to recover heading. At the neural level, most CA1 neurons persistently align to geometry, and this alignment predicts heading behavior. However, a small subset of cells remaps coherently in a context-sensitive manner, which serves to predict context. Efficient heading retrieval and context recognition correlate with rate changes reflecting integration of featural and geometric information in the active ensemble. These data illustrate how context recognition and heading retrieval are coded in CA1 and how these processes change with experience.

The mosaic structure of the mammalian cognitive map

The cognitive map, proposed by Tolman in the 1940s, is a hypothetical internal representation of space constructed by the brain to enable an animal to undertake flexible spatial behaviors such as navigation. The subsequent discovery of place cells in the hippocampus of rats suggested that such a map-like representation does exist, and also provided a tool with which to explore its properties. Single-neuron studies in rodents conducted in small singular spaces have suggested that the map is founded on a metric framework, preserving distances and directions in an abstract representational format. An open question is whether this metric structure pertains over extended, often complexly structured real-world space. The data reviewed here suggest that this is not the case. The emerging picture is that instead of being a single, unified construct, the map is a mosaic of fragments that are heterogeneous, variably metric, multiply scaled, and sometimes laid on top of each other. Important organizing factors within and between fragments include boundaries, context, compass direction, and gravity. The map functions not to provide a comprehensive and precise rendering of the environment but rather to support adaptive behavior, tailored to the species and situation.

What have we learned from research on the "geometric module"?

This article is an overview of the research and controversy initiated by Cheng's (Cognition, 23(2), 149-178, 1986) article hypothesizing a purely geometric module in spatial representation. Hundreds of experiments later, we know much more about spatial behavior across a very wide array of species, ages, and kinds of conditions, but there is still no consensus model of the phenomena. I argue for an adaptive combination approach that entails several principles: (1) a focus on ecological niches and the spatial information they offer; (2) an approach to development that is experience-expectant: (3) continued plasticity as environmental conditions change; (4) language as one of many cognitive tools that can support spatial behavior.

Landmarks, beacons, or panoramic views: What do pigeons attend to for guidance in familiar environments?

Birds and social insects represent excellent systems for understanding visually guided navigation. Both animal groups use surrounding visual cues for homing and foraging. Ants extract sufficient spatial information from panoramic views, which naturally embed all near and far spatial information, for successful homing. Although egocentric panoramic views allow for parsimonious explanations of navigational behaviors, this potential source of spatial information has been mostly neglected during studies of vertebrates. Here we investigate how distinct landmarks, a beacon, and panoramic views influence the reorientation behavior in pigeons (Columba livia). Pigeons were trained to search for a location characterized by a beacon and several distinct landmarks. Transformation tests manipulated aspects of the landmark configuration, allowing for a dissociation among navigational strategies. Quantitative image and path analyses provided support that the panoramic view was used by the pigeons. Although the results from some individuals support the use of beaconing, overall the pigeons relied predominantly on the panoramic view when spatial cues provided conflicting information regarding the goal location. Reorientation based on vector and bearing information derived from distinct landmarks as well as environmental geometry failed to account fully for the results. Thus, the results of our study support that pigeons can use panoramic views for reorientation in familiar environments. Given that the current model for landmark use by pigeons posits the use of different vectors from an object, a global panorama-matching strategy suggests a fundamental change in the theory of how pigeons use surrounding visual cues for localization.

Environment geometry alters subiculum boundary vector cell receptive fields in adulthood and early development

Boundaries to movement form a specific class of landmark information used for navigation: Boundary Vector Cells (BVCs) are neurons which encode an animal's location as a vector displacement from boundaries. Here we characterise the prevalence and spatial tuning of subiculum BVCs in adult and developing male rats, and investigate the relationship between BVC spatial firing and boundary geometry. BVC directional tunings align with environment walls in squares, but are uniformly distributed in circles, demonstrating that environmental geometry alters BVC receptive fields. Inserted barriers uncover both excitatory and inhibitory components to BVC receptive fields, demonstrating that inhibitory inputs contribute to BVC field formation. During post-natal development, subiculum BVCs mature slowly, contrasting with the earlier maturation of boundary-responsive cells in upstream Entorhinal Cortex. However, Subiculum and Entorhinal BVC receptive fields are altered by boundary geometry as early as tested, suggesting this is an inherent feature of the hippocampal representation of space.

Proximity to boundaries reveals spatial context representation in human hippocampal CA1

Recollection of real-world events is often accompanied by a sense of being in the place where the event transpired. Convergent evidence suggests the hippocampus plays a key role in supporting episodic memory by associating information with the time and place it was originally encountered. This representation is reinstated during memory retrieval. However, little is known about the roles of different subfields of the human hippocampus in this process. Research in humans and non-human animal models has suggested that spatial environmental boundaries have a powerful influence on spatial and episodic memory, as well as hippocampal representations of contexts and events. Here, we used high-resolution fMRI to investigate how boundaries influence hippocampal activity patterns during the recollection of objects encountered in different spatial contexts. During the encoding phase, participants viewed objects once in a naturalistic virtual reality task in which they passively explored two rooms in one of two houses. Following the encoding phase, participants were scanned while they recollected items in the absence of any spatial contextual information. Our behavioral results demonstrated that spatial context memory was enhanced for objects encountered near a boundary. Activity patterns in CA1 carried information about the spatial context associated with each of these boundary items. Exploratory analyses revealed that recollection performance was correlated with the fidelity of retrieved spatial context representations in anterior parahippocampal cortex and subiculum. Our results highlight the privileged role of boundaries in CA1 and suggest more generally a close relationship between memory for spatial contexts and representations in the hippocampus and parahippocampal region.

Statistically Optimal Cue Integration During Human Spatial Navigation

In 2007, Cheng and colleagues published their influential review wherein they analyzed the literature on spatial cue interaction during navigation through a Bayesian lens, and concluded that models of optimal cue integration often applied in psychophysical studies could explain cue interaction during navigation. Since then, numerous empirical investigations have been conducted to assess the degree to which human navigators are optimal when integrating multiple spatial cues during a variety of navigation-related tasks. In the current review, we discuss the literature on human cue integration during navigation that has been published since Cheng et al.'s original review. Evidence from most studies demonstrate optimal navigation behavior when humans are presented with multiple spatial cues. However, applications of optimal cue integration models vary in their underlying assumptions (e.g., uninformative priors and decision rules). Furthermore, cue integration behavior depends in part on the nature of the cues being integrated and the navigational task (e.g., homing versus non-home goal localization). We discuss the implications of these models and suggest directions for future research.

Landmark Distance Impacts the Overshadowing Effect in Spatial Learning Using a Virtual Water Maze Task with Healthy Adults

Cue competition is a key element of many associative theories of learning. Overshadowing, an important aspect of cue competition, is a phenomenon in which learning about a cue is reduced when it is accompanied by a second cue. Overshadowing has been observed across many domains, but there has been limited investigation of overshadowing in human spatial learning. This experiment explored overshadowing using two landmarks/cues (at different distances to the goal) in a virtual water maze task with young, healthy adult participants. Experiment 1 initially examined whether the cues used were equally salient. Results indicated that both gained equal control over performance. In experiment 2, overshadowing was examined using the two cues from experiment 1. Results indicated that overshadowing occurred during spatial learning and that the near cue controlled searching significantly more than the far cue. Furthermore, the far cue appeared to have been completely ignored, suggesting that learning strategies requiring the least amount of effort were employed by participants. Evidence supporting an associative account of human spatial navigation and the influence of proximal cues was discussed.

Mice identify subgoal locations through an action-driven mapping process

Mammals form mental maps of the environments by exploring their surroundings. Here, we investigate which elements of exploration are important for this process. We studied mouse escape behavior, in which mice are known to memorize subgoal locations-obstacle edges-to execute efficient escape routes to shelter. To test the role of exploratory actions, we developed closed-loop neural-stimulation protocols for interrupting various actions while mice explored. We found that blocking running movements directed at obstacle edges prevented subgoal learning; however, blocking several control movements had no effect. Reinforcement learning simulations and analysis of spatial data show that artificial agents can match these results if they have a region-level spatial representation and explore with object-directed movements. We conclude that mice employ an action-driven process for integrating subgoals into a hierarchical cognitive map. These findings broaden our understanding of the cognitive toolkit that mammals use to acquire spatial knowledge.

Geometric determinants of the postrhinal egocentric spatial map

Animals use the geometry of their local environments to orient themselves during navigation. Single neurons in the rat postrhinal cortex (POR) appear to encode environmental geometry in an egocentric (self-centered) reference frame, such that they fire in response to the egocentric bearing and/or distance from the environment center or boundaries. One major issue is whether these neurons truly encode high-level global parameters, such as the bearing/distance of the environment centroid, or whether they are simply responsive to the bearings and distances of nearby walls. We recorded from POR neurons as rats foraged in environments with different geometric layouts and modeled their responses based on either global geometry (centroid) or local boundary encoding. POR neurons largely split into either centroid-encoding or local-boundary-encoding cells, with each group lying at one end of a continuum. We also found that distance-tuned cells tend to scale their linear tuning slopes in a very small environment, such that they lie somewhere between absolute and relative distance encoding. In addition, POR cells largely maintain their bearing preferences, but not their distance preferences, when exposed to different boundary types (opaque, transparent, drop edge), suggesting different driving forces behind the bearing and distance signals. Overall, the egocentric spatial correlates encoded by POR neurons comprise a largely robust and comprehensive representation of environmental geometry.

Effects of the Uncertainty of Interpersonal Communications on Behavioral Responses of the Participants in an Immersive Virtual Reality Experience: A Usability Study

Two common difficulties which people face in their daily lives are managing effective communication with others and dealing with what makes them feel uncertain. Past research highlights that the result of not being able to handle these difficulties influences people's performance in the task at hand substantially, especially in the context of a social environment such as a workplace. Perceived uncertainty of information is a key influential factor in this regard, with effects on the quality of the information transfer between sender and receiver. Uncertainty of information can be induced into the communication system in three ways: when there is any kind of information deficit that makes the target message unclear for the receiver, when there are some requested changes that could not be predicted by the receiver, and when the content of the message is so interconnected and complex that it limits understanding. Since uncertainty is an inseparable feature of our lives, studying the effects that different levels of it have on individuals and how individuals nevertheless accomplish the tasks of daily living is of high importance. Modern technologies such as immersive virtual reality (VR) have been successful in providing effective platforms to support human behavioral and social well-being studies. In this paper, we suggest the design, development, and evaluation of an immersive VR serious game platform to study behavioral responses to the uncertain features of interpersonal communications. In addition, we report the result of a within-subject user study with 17 participants aged between 20 and 35 and their behavioral responses to two levels of uncertainty with subjective and objective measures. The results convey that the application successfully and meaningfully measured some behavioral responses related to exposure to different levels of uncertainty and overall, the participants were satisfied with the experience.

A model for transforming egocentric views into goal-directed behavior

Neurons in the rat postrhinal cortex (POR) respond to the egocentric (observer-centered) bearing and distance of the boundaries, or geometric center, of an enclosed space. Understanding of the precise geometric and sensory properties of the environment that generate these signals is limited. Here we model how this signal may relate to visual perception of motion parallax along environmental boundaries. A behavioral extension of this tuning is the known 'centering response', in which animals follow a spatial gradient function based on boundary parallax to guide behavior toward the center of a corridor or enclosure. Adding an allocentric head direction signal to this representation can translate the gradient across two-dimensional space and provide a new gradient for directing behavior to any location. We propose a model for how this signal may support goal-directed navigation via projections to the dorsomedial striatum. The result is a straightforward code for navigational variables derived from visual geometric properties of the surrounding environment, which may be used to map space and transform incoming sensory information into an appropriate motor output.

Two Are Better Than One: Integrating Spatial Geometry with a Conspicuous Landmark in Zebrafish Reorientation Behavior

Within bounded environments of a distinctive shape, zebrafish locate two geometrically equivalent corner positions, based on surface metrics and left-right directions. For instance, the corners with a short surface right/long surface left cannot be distinguished as unique spatial locations unless other cues break the symmetry. By conjoining geometry with a conspicuous landmark, such as a different-color surface, one of the two geometric twins will have a short different-colored surface right, becoming identifiable. Zebrafish spontaneously combine a rectangular white arena's shape with a blue wall landmark, but only when this landmark is near the target corner; when far, that cue triggers a steady attractiveness bias. In this study, we trained zebrafish to use a blue wall landmark in conjunction with a rectangular-shaped arena, providing them rewards over time. We found that trained zebrafish learned to locate the target corner, regardless of the landmark's length and distance, overcoming the attractiveness bias. Zebrafish preferred geometry after removing the landmark (geometric test), but not if put into conflict geometry and landmark (affine transformation). Analysis on movement patterns revealed wall-following exploration as a consistent strategy for approaching the target corner, with individual left-right direction. The capacity of zebrafish to handle different sources of information may be grounds for investigating how environmental changes affect fish spatial behavior in threatened ecosystems.

Direction and distance information in memory for locations of objects relative to landmarks and boundaries

An observer often remembers an object's location on the basis of its direction and distance from reference objects. Two kinds of reference object are of particular interest: landmarks and boundaries. We compared how well observers remembered the direction and distance of target objects from a landmark and a boundary. Patterns of variable error implied that the landmark was more effective than the boundary in supporting memory for target object direction. When the predictions of the landmark and the boundary were placed in conflict, patterns of constant error implied that the boundary was more effective than the landmark in supporting memory for target object distance. These results suggest affinities between direction information and landmarks and between distance information and boundaries. They raise the possibility that, rather than collapsing across direction and distance error, theoretical analyses should distinguish the two kinds of error in assessing the reliability of landmarks and boundaries.

Spatial Learning by Using Non-Visual Geometry and a Visual 3D Landmark in Zebrafish (Danio rerio)

Fish conjoin environmental geometry with conspicuous landmarks to reorient towards foraging sites and social stimuli. Zebrafish (Danio rerio) can merge a rectangular opaque arena with a 2D landmark (a blue-colored wall) but cannot merge a rectangular transparent arena with a 3D landmark (a blue cylinder) without training to "feel" the environment thanks to other-than-sight pathways. Thus, their success is linked to tasks differences (spontaneous vs. rewarded). This study explored the reorientation behavior of zebrafish within a rectangular transparent arena, with a blue cylinder outside, proximal to/distal from a target corner position, on the short/long side of the arena. Adult males were extensively trained to distinguish the correct corner from the rotational one, sharing an equivalent metric-sense relationship (short surface left, long surface right), to access food and companions. Results showed that zebrafish's reorientation behavior was driven by both the non-visual geometry and the visual landmark, partially depending on the landmark's proximity and surface length. Better accuracy was attained when the landmark was proximal to the target corner. When long-term experience was allowed, zebrafish handled non-visual and visual sensory stimulations over time for reorienting. We advance the possibility that multisensory processes affect fish's reorientation behavior and spatial learning, providing a link through which to investigate animals' exploratory strategies to face situations of visual deprivation or impairments.

From representations to servomechanisms to oscillators: my journey in the study of cognition

The study of comparative cognition bloomed in the 1970s and 1980s with a focus on representations in the heads of animals that undergird what animals can achieve. Even in action-packed domains such as navigation and spatial cognition, a focus on representations prevailed. In the 1990s, I suggested a conception of navigation in terms of navigational servomechanisms. A servomechanism can be said to aim for a goal, with deviations from the goal-directed path registering as an error. The error drives action to reduce the error in a negative-feedback loop. This loop, with the action reducing the very signal that drove action in the first place, is key to defining a servomechanism. Even though actions are crucial components of servomechanisms, my focus was on the representational component that encodes signals and evaluates errors. Recently, I modified and amplified this view in claiming that, in navigation, servomechanisms operate by modulating the performance of oscillators, endogenous units that produce periodic action. The pattern is found from bacteria travelling micrometres to sea turtles travelling thousands of kilometres. This pattern of servomechanisms working with oscillators is found in other realms of cognition and of life. I think that oscillators provide an effective way to organise an organism's own activities while servomechanisms provide an effective means to adjust to the organism's environment, including that of its own body.

Varieties of visual navigation in insects

The behaviours and cognitive mechanisms animals use to orient, navigate, and remember spatial locations exemplify how cognitive abilities have evolved to suit a number of different mobile lifestyles and habitats. While spatial cognition observed in vertebrates has been well characterised in recent decades, of no less interest are the great strides that have also been made in characterizing and understanding the behavioural and cognitive basis of orientation and navigation in invertebrate models and in particular insects. Insects are known to exhibit remarkable spatial cognitive abilities and are able to successfully migrate over long distances or pinpoint known locations relying on multiple navigational strategies similar to those found in vertebrate models-all while operating under the constraint of relatively limited neural architectures. Insect orientation and navigation systems are often tailored to each species' ecology, yet common mechanistic principles can be observed repeatedly. Of these, reliance on visual cues is observed across a wide number of insect groups. In this review, we characterise some of the behavioural strategies used by insects to solve navigational problems, including orientation over short-distances, migratory heading maintenance over long distances, and homing behaviours to known locations. We describe behavioural research using examples from a few well-studied insect species to illustrate how visual cues are used in navigation and how they interact with non-visual cues and strategies.

Navigational roots of spatial and temporal memory structure

Our minds are constantly in transit, from the present to the past to the future, across places we have and have not directly experienced. Nevertheless, memories of our mental time travel are not organized continuously and are adaptively chunked into contexts and episodes. In this paper, I will review evidence that suggests that spatial boundary representations play a critical role in providing structure to both our spatial and temporal memories. I will illustrate the intimate connection between hippocampal spatial mapping and temporal sequencing of episodic memory to propose that high-level cognitive processes like mental time travel and conceptual mapping are rooted in basic navigational mechanisms that we humans and nonhuman animals share. Our neuroscientific understanding of hippocampal function across species may provide new insight into the origins of even the most uniquely human cognitive abilities.

Geometry-based navigation in the dark: layout symmetry facilitates spatial learning in the house cricket, Acheta domesticus, in the absence of visual cues

The capacity to navigate by layout geometry has been widely recognized as a robust strategy of place-finding. It has been reported in various species, although most studies were performed with vision-based paradigms. In the presented study, we aimed to investigate layout symmetry-based navigation in the house cricket, Acheta domesticus, in the absence of visual cues. For this purpose, we used a non-visual paradigm modeled on the Tennessee Williams setup. We ensured that the visual cues were indeed inaccessible to insects. In the main experiment, we tested whether crickets are capable of learning to localize the centrally positioned, inconspicuous cool spot in heated arenas of various shapes (i.e., circular, square, triangular, and asymmetric quadrilateral). We found that the symmetry of the arena significantly facilitates crickets’ learning to find the cool spot, indicated by the increased time spent on the cool spot and the decreased latency in locating it in subsequent trials. To investigate mechanisms utilized by crickets, we analyzed their approach paths to the spot. We found that crickets used both heuristic and directed strategies of approaching the target, with the dominance of a semi-directed strategy (i.e., a thigmotactic phase preceding direct navigation to the target). We propose that the poor performance of crickets in the asymmetrical quadrilateral arena may be explained by the difficulty of encoding its layout with cues from a single modality.

Spatial cognition and the avian hippocampus: Research in domestic chicks

In this review, we discuss the functional equivalence of the avian and mammalian hippocampus, based mostly on our own research in domestic chicks, which provide an important developmental model (most research on spatial cognition in other birds relies on adult animals). In birds, like in mammals, the hippocampus plays a central role in processing spatial information. However, the structure of this homolog area shows remarkable differences between birds and mammals. To understand the evolutionary origin of the neural mechanisms for spatial navigation, it is important to test how far theories developed for the mammalian hippocampus can also be applied to the avian hippocampal formation. To address this issue, we present a brief overview of studies carried out in domestic chicks, investigating the direct involvement of chicks’ hippocampus homolog in spatial navigation.

The effect of schizotypy on spatial learning in an environment with a distinctive shape

In two experiments, participants completed the Oxford-Liverpool Inventory of Feelings and Experiences measuring schizotypal traits across four dimensions (unusual experiences, cognitive disorganization, introvertive anhedonia, and impulsive non-conformity). They then took part in a virtual navigation task where they were required to learn about the position of a hidden goal with reference to geometric cues of a rectangular arena or rely on colored wall panels to find the hidden goal in a square-shaped arena. Unusual experience and cognitive disorganization were significant predictors of the use of geometric cues, but no significant predictors were found for the use of wall panels. Implications to hippocampal function and the clinical domain are considered.

Navigable Space and Traversable Edges Differentially Influence Reorientation in Sighted and Blind Mice

Reorientation enables navigators to regain their bearings after becoming lost. Disoriented individuals primarily reorient themselves using the geometry of a layout, even when other informative cues, such as landmarks, are present. Yet the specific strategies that animals use to determine geometry are unclear. Moreover, because vision allows subjects to rapidly form precise representations of objects and background, it is unknown whether it has a deterministic role in the use of geometry. In this study, we tested sighted and congenitally blind mice (Ns = 8-11) in various settings in which global shape parameters were manipulated. Results indicated that the navigational affordances of the context-the traversable space-promote sampling of boundaries, which determines the effective use of geometric strategies in both sighted and blind mice. However, blind animals can also effectively reorient themselves using 3D edges by extensively patrolling the borders, even when the traversable space is not limited by these boundaries.

Effects of spatial boundaries on episodic memory development

Children's spatial mapping starts out particularly sensitive to 3D wall-like boundaries and develops over early childhood to flexibly include other boundary types. This study investigated whether spatial boundaries influence children's episodic memory, as in adults, and whether this effect is modulated by boundary type. Eighty-one Korean children (34 girls, 36-84 months old) re-enacted a sequence of three discrete hiding events within a space containing one of three boundaries: 3D wall, aligned objects, or 2D line. Children's memory of events occurring on one side of the boundary developed earlier than those that crossed the boundary. At first, this interaction only applied to the 3D wall and extended to other boundary types with age, suggesting that children's changing spatial representations influence their episodic memory development.

The Geometric World of Fishes: A Synthesis on Spatial Reorientation in Teleosts

Simple Summary

Animals inhabit species-specific ecological environments and acquire knowledge about the surrounding space to adaptively behave and move within it. Spatial cognition is important for achieving basic survival actions such as detecting the position of a food site or a mate, going back home or hiding from a predator. As such, animals possess multiple mechanisms for spatial mapping, including the use of individual reference points or positional relationships among them. One such mechanism allows disoriented animals to navigate according to the distinctive geometry of the environment: within a rectangular enclosure, they can simply reorient by using “metrics” (e.g., longer/shorter, closer/farther) and “sense” (e.g., left, right) attributes. Navigation based on the environmental geometry has been widely investigated across the animal kingdom, including fishes. In particular, research on teleost fish has contributed to the general understanding of geometric representations through both visual and extra-visual modalities, even vertebrates phylogenetically remote from mammals.

Abstract

Fishes navigate through underwater environments with remarkable spatial precision and memory. Freshwater and seawater species make use of several orientation strategies for adaptative behavior that is on par with terrestrial organisms, and research on cognitive mapping and landmark use in fish have shown that relational and associative spatial learning guide goal-directed navigation not only in terrestrial but also in aquatic habitats. In the past thirty years, researchers explored spatial cognition in fishes in relation to the use of environmental geometry, perhaps because of the scientific value to compare them with land-dwelling animals. Geometric navigation involves the encoding of macrostructural characteristics of space, which are based on the Euclidean concepts of “points”, “surfaces”, and “boundaries”. The current review aims to inspect the extant literature on navigation by geometry in fishes, emphasizing both the recruitment of visual/extra-visual strategies and the nature of the behavioral task on orientation performance.

Temporal and spatial contiguity are necessary for competition between events

Over the last 50 years, cue competition phenomena have shaped theoretical developments in animal and human learning. However, recent failures to observe competition effects in standard conditioning procedures, as well as the lengthy and ongoing debate surrounding cue competition in the spatial learning literature, have cast doubts on the generality of these phenomena. In the present study, we manipulated temporal contiguity between simultaneously trained predictors and outcomes (Experiments 1-4), and spatial contiguity between landmarks and goals in spatial learning (Supplemental Experiments 1 and 2; Experiment 5). Across different parametric variations, we observed overshadowing when temporal and spatial contiguity were strong, but no overshadowing when contiguity was weak. Thus, across temporal and spatial domains, we observed that contiguity is necessary for competition to occur, and that competition between cues presented simultaneously during learning is absent when these cues were either spatially or temporally discontiguous from the outcome. Consequently, we advance a model in which the contiguity between events is accounted for and which explains these results and reconciles the previously contradictory findings observed in spatial learning. (PsycInfo Database Record (c) 2022 APA, all rights reserved).

Environmental cue difference and training duration modulate spatial learning and cue preference in detour task

In this study, we investigated how different environmental cue and the proficiency of body motion influenced detour learning behaviour and cue preference in cue conflict situations. Domestic chicks were trained to detour around an obstacle and follow a fixed route to rejoin with their partners. When the environmental cue was red vs. blue vertical stripes, the chicks learned the detour task quicker, and as the number of training trials after route acquisition increased, they switched their preference from the environmental cue to a body-motion cue in the cue conflict test. On the other hand, when the environmental cue was vertical vs. horizontal blue stripes, the chicks learned the detour task slower and showed a dependence on the body-motion cue regardless of the number of training trials performed after route acquisition. When the environmental cue was removed, most chicks could still successfully detour according to the specific route on which they had been trained. Furthermore, a significant difference in detour latency was found between chicks using the environmental cue and chicks using the body-motion cue, suggesting separate neuronal circuits responsible for processing the two types of information. Our results demonstrated that young domestic chicks could use both environmental cue and body-motion cues to memorize the route during the detour learning task; however the detour route preference could be dynamically modulated by difference of the environmental cue and the number of training trials they received. Illustrated Abstract Young domestic chicks could use environmental cues and body-motion cues to memorize route in a detour learning task (a). When environmental cue was red vs. blue vertical stripes, the chicks learned the task quicker (b) and their preference on environmental cue equalled to body-motion cue in the cue conflict test. However when environmental cue was vertical vs. horizontal blue stripes, the chicks showed a preferred dependence on body-motion cue (c). Detour latency was longer for chicks using the environmental cue than chicks using the body-motion cue (d).

An adaptive cue selection model of allocentric spatial reorientation

After becoming disoriented, an organism must use the local environment to reorient and recover vectors to important locations. A new theory, adaptive combination, suggests that the information from different spatial cues is combined with Bayesian efficiency during reorientation. To test this further, we modified the standard reorientation paradigm to be more amenable to Bayesian cue combination analyses while still requiring reorientation in an allocentric (i.e., world-based, not egocentric) frame. Twelve adults and 20 children at ages 5 to 7 years old were asked to recall locations in a virtual environment after a disorientation. Results were not consistent with adaptive combination. Instead, they are consistent with the use of the most useful (nearest) single landmark in isolation. We term this adaptive selection. Experiment 2 suggests that adults also use the adaptive selection method when they are not disoriented but are still required to use a local allocentric frame. This suggests that the process of recalling a location in the allocentric frame is typically guided by the single most useful landmark rather than a Bayesian combination of landmarks. These results illustrate that there can be important limits to Bayesian theories of the cognition, particularly for complex tasks such as allocentric recall.

Whether studying the development of children’s spatial cognition, creating artificial intelligence with human-like capacities, or designing civic spaces, we can benefit from a strong understanding of how humans process the space around them. Here we tested a prominent theory that brings together statistical theory and psychological theory (Bayesian models of perception and memory) but found that it could not satisfactorily explain our data. Our findings suggest that when tracking the spatial relations between objects from different viewpoints, rather than efficiently combining all the available landmarks, people often fall back to the much simpler method of tracking the spatial relation to the nearest landmark.

How to turn the corner: Discrimination of path shapes in rats

The internal representation of a path shape is an element that constructs an internal representation of an entire route or environment. In the present study, we examined the ability of rats to discriminate path shapes. The rats learned to discriminate between an oval-shaped runway and a square-shaped one and to respond to one of two response boxes on the two sides of the runways. After the learning sessions, we tested which of the inner and outer walls the rats used as cues for discrimination using different wall shapes. The results suggest that the rats used the shape of the inner walls for the discrimination. Subsequently, the learning sessions, in which different shapes of the inner and outer walls were used, continued. There was a tendency for the rats to show better performance when the shape of the inner walls was congruent with the rule in the original learning, suggesting again that the rats used the shape of the inner wall for the discrimination. In addition, similar results were obtained when the task was conducted in the dark, suggesting that rats can discriminate path shapes using non-visual information.

Anxiety and Motion Sickness Susceptibility May Influence the Ability to Update Orientation in the Horizontal Plane of Healthy Subjects

Few studies have evaluated the influence of idiosyncrasies that may influence the judgment of space-time orientation after passive motion. We designed a study to assess the influence of anxiety/depression (which may distort time perception), motion sickness susceptibility (which has been related to vestibular function, disorientation, and to the velocity storage mechanism), and personal habits on the ability to update orientation, after passive rotations in the horizontal plane. Eighty-one healthy adults (22–64 years old) accepted to participate. After they completed an in-house general health/habits questionnaire, the short Motion Sickness Susceptibility Questionnaire, the Hospital Anxiety and Depression Scale (HADS), the Pittsburgh Sleep Quality Index, and the short International Physical Activity Questionnaire, they were exposed to 10 manually driven whole-body rotations (45°, 90°, or 135°), in a square room, with distinctive features on the walls, while seated in the normal upright position, unrestrained, with noise-attenuating headphones and blindfolded. After each rotation, they were asked to report which wall or corner they were facing. To calculate the error of estimation of orientation, the perceived rotation was subtracted from the actual rotation. Multivariate analysis showed that the estimation error of the first rotation was strongly related to the results of the orientation test. The magnitude and the frequency of estimation errors of orientation were independently related to HADS anxiety sub-score and to adult motion sickness susceptibility, with no influence of age, but a contribution from the interaction of the use of spectacles, the quality of sleep and sex. The results suggest that idiosyncrasies may contribute to the space-time estimation of passive self-motion, with influence from emotional traits, adult motion sickness susceptibility, experience, and possibly sleep quality.

Uncertainty promotes information-seeking actions, but what information?

Navigating an unfamiliar city almost certainly brings out uncertainty about getting from place to place. This uncertainty, in turn, triggers information gathering. While navigational uncertainty is common, little is known about what type of information people seek when they are uncertain. The primary choices for information types with environments include landmarks (distal or local), landmark configurations (relation between two or more landmarks), and a distinct geometry, at least for some environments. Uncertainty could lead individuals to more likely seek one of these information types. Extant research informs both predictions about and empirical work exploring this question. This review covers relevant cognitive literature and then suggests empirical approaches to better understand information-seeking actions triggered by uncertainty. Notably, we propose that examining continuous navigation data can provide important insights into information seeking. Benefits of continuous data will be elaborated through one paradigm, spatial reorientation, which intentionally induces uncertainty through disorientation and cue conflict. While this and other methods have been used previously, data have primarily reflected only the final choice. Continuous behavior during a task can better reveal the cognition-action loop contributing to spatial learning and decision making.

Reorientation by features and geometry: Effects of healthy and degenerative age-related cognitive decline

The ability to orient is critical for mobile species. Two visual cues, geometry (e.g., distance and direction) and features (e.g., colour and texture) are often used when establishing one's orientation. Previous research has shown the use of these cues, in particular, geometry, may decline with healthy aging. Few studies have examined whether degenerative aging processes show similar time points for the decline of geometry use. The present study examined this issue by training adult and aged mice from two strains, a healthy wild-type and an Alzheimer's model, to search for a hidden platform in a rectangular water maze. The shape of the maze provided geometric information, and distinctive features were displayed on the walls. Following training, manipulations to the features were made to examine whether the mice were able to use the features and geometry, and whether they showed a preference between these two cue types. Results showed that although Alzheimer's transgenic mice were slower to learn the task, overall age rather than strain, was associated with a degradation in use of geometry. However, the presence of seemingly uninformative features (due to their redundancy) facilitated the use of geometry. Additionally, when features and geometry provided conflicting information, only young wild-type mice showed a primary use of features. Our results suggest the failure to use geometry may be a generalized function of aging, and not a diagnostic feature of degeneration for mice. Whether this is also the case for other mammals, such as humans for which the mouse is an important medical model, remains to be examined.

Distinct and combined responses to environmental geometry and features in a working-memory reorientation task in rats and chicks

The original provocative formulation of the ‘geometric module’ hypothesis was based on a working-memory task in rats which suggested that spontaneous reorientation behavior is based solely on the environmental geometry and is impervious to featural cues. Here, we retested that claim by returning to a spontaneous navigation task with rats and domestic chicks, using a single prominent featural cue (a striped wall) within a rectangular arena. Experiments 1 and 2 tested the influence of geometry and features separately. In Experiment 1, we found that both rats and chicks used environmental geometry to compute locations in a plain rectangular arena. In Experiment 2, while chicks failed to spontaneously use a striped wall in a square arena, rats showed a modest influence of the featural cue as a local marker to the goal. The critical third experiment tested the striped wall inside the rectangular arena. We found that although chicks solely relied on geometry, rats navigated based on both environmental geometry and the featural cue. While our findings with rats are contrary to classic claims of an impervious geometric module, they are consistent with the hypothesis that navigation by boundaries and features may involve distinct underlying cognitive computations. We conclude by discussing the similarities and differences in feature-use across tasks and species.

Coding of Navigational Distance and Functional Constraint of Boundaries in the Human Scene-Selective Cortex

For visually guided navigation, the use of environmental cues is essential. Particularly, detecting local boundaries that impose limits to locomotion and estimating their location is crucial. In a series of three fMRI experiments, we investigated whether there is a neural coding of navigational distance in the human visual cortex (both female and male). We used virtual reality software to systematically manipulate the distance from a viewer perspective to different types of a boundary. Using a multivoxel pattern classification employing a linear support vector machine, we found that the occipital place area (OPA) is sensitive to the navigational distance restricted by the transparent glass wall. Further, the OPA was sensitive to a non-crossable boundary only, suggesting an importance of the functional constraint of a boundary. Together, we propose the OPA as a perceptual source of external environmental features relevant for navigation.SIGNIFICANCE STATEMENT One of major goals in cognitive neuroscience has been to understand the nature of visual scene representation in human ventral visual cortex. An aspect of scene perception that has been overlooked despite its ecological importance is the analysis of space for navigation. One of critical computation necessary for navigation is coding of distance to environmental boundaries that impose limit on navigator's movements. This paper reports the first empirical evidence for coding of navigational distance in the human visual cortex and its striking sensitivity to functional constraint of environmental boundaries. Such finding links the paper to previous neurological and behavioral works that emphasized the distance to boundaries as a crucial geometric property for reorientation behavior of children and other animal species.

The Environmental Geometry in Spatial Learning by Zebrafish (Danio rerio)

During navigation, disoriented animals learn to use the spatial geometry of rectangular environments to gain rewards. The length of macroscopic surfaces (metric: short/long) and their spatial arrangement (sense: left/right) are powerful cues that animals prove to encode for reorientation. The aim of this study was to investigate if zebrafish (Danio rerio) could take advantage of such geometric properties in a rewarded exit task, by applying a reference memory procedure. The experiment was performed in a rectangular arena having four white walls, where fish were required to choose the two geometrically equivalent exit corners lying on the reinforced diagonal. Results showed that zebrafish encoded the geometry of the arena during reorientation, solving the spatial task within the first 5 days of training. With the aim to avoid the possible influence of extravisual cues on the zebrafish success, we performed a geometric test in extinction of response after the learning day. At test, fish persisted in choosing the two correct corners, thus confirming that the navigation strategy used at training was based on geometric cues. This study adds evidence about the role of geometric frameworks in fish species, and it further validates an effective spatial learning paradigm for zebrafish.

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

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

The role of learning and environmental geometry in landmark-based spatial reorientation of fish (Xenotoca eiseni)

Disoriented animals and humans use both the environmental geometry and visual landmarks to guide their spatial behavior. Although there is a broad consensus on the use of environmental geometry across various species of vertebrates, the nature of disoriented landmark-use has been greatly debated in the field. In particular, the discrepancy in performance under spontaneous choice conditions (sometimes called “working memory” task) and training over time (“reference memory” task) has raised questions about the task-dependent dissociability of mechanisms underlying the use of landmarks. Until now, this issue has not been directly addressed, due to the inclusion of environmental geometry in most disoriented navigation paradigms. In the present study, therefore, we placed our focus on landmark-based navigation in fish (Xenotoca eiseni), an animal model that has provided fruitful research in spatial reorientation. We began with a test of spontaneous navigation by geometry and landmarks (Experiment 1), showing a preference for the correct corner, even in the absence of reinforced training. We then proceeded to test landmarks without the influence of informative geometry through the use of square environments (Experiment 2–4), varying the numerosity of present landmarks, the distance of landmarks from the target corner, and the type of task (i.e., spontaneous cued memory or reference memory). We found marked differences in landmark-use in the absence of environmental geometry. In the spontaneous memory task, visual landmarks acquired perceptive salience (and attracted the fish) but without serving as a spatial cue to location when they were distal from the target. Across learning in the reference memory task, the fish overcame these effects and gradually improved in their performance, although they were still biased to learn visual landmarks near the target (i.e., as beacons). We discuss these results in relation to the existing literature on dissociable mechanisms of spatial learning.

Spatial reorientation with a geometric array of auditory cues

A visuocentric bias has dominated the literature on spatial navigation and reorientation. Studies on visually accessed environments indicate that, during reorientation, human and non-human animals encode the geometric shape of the environment, even if this information is unnecessary and insufficient for the task. In an attempt to extend our limited knowledge on the similarities and differences between visual and non-visual navigation, here we examined whether the same phenomenon would be observed during auditory-guided reorientation. Provided with a rectangular array of four distinct auditory landmarks, blindfolded, sighted participants had to learn the location of a target object situated on a panel of an octagonal arena. Subsequent test trials were administered to understand how the task was acquired. Crucially, in a condition in which the auditory cues were indistinguishable (same sound sample), participants could still identify the correct target location, suggesting that the rectangular array of auditory landmarks was encoded as a geometric configuration. This is the first evidence of incidental encoding of geometric information with auditory cues and, consistent with the theory of functional equivalence, it supports the generalisation of mechanisms of spatial learning across encoding modalities.