Navigation requires orienting oneself relative to landmarks in the environment, evaluating relevant sensory data, remembering goals, and convert all this information into motor commands that direct locomotion. I will present models, highly constrained by connectomic, physiological and behavioral data, for how these functions are accomplished in the fly brain.

During navigation, animals estimate their position using path integration and landmarks. In a series of two studies, we used virtual reality and electrophysiology to dissect how these inputs combine to generate the brain’s spatial representations. In the first study (Campbell et al., 2018), we focused on the medial entorhinal cortex (MEC) and its set of navigationally-relevant cell types, including grid cells, border cells, and speed cells. We discovered that attractor dynamics could explain an array of initially puzzling MEC responses to virtual reality manipulations. This theoretical framework successfully predicted both MEC grid cell responses to additional virtual reality manipulations, as well as mouse behavior in a virtual path integration task. In the second study (Campbell*, Attinger* et al., 2021), we asked whether these principles generalize to other navigationally-relevant brain regions. We used Neuropixels probes to record thousands of neurons from MEC, primary visual cortex (V1), and retrosplenial cortex (RSC). In contrast to the prevailing view that “everything is everywhere all at once,” we identified a unique population of MEC neurons, overlapping with grid cells, that became active with striking spatial periodicity while head-fixed mice ran on a treadmill in darkness. These neurons exhibited unique cue-integration properties compared to other MEC, V1, or RSC neurons: they remapped more readily in response to conflicts between path integration and landmarks; they coded position prospectively as opposed to retrospectively; they upweighted path integration relative to landmarks in conditions of low visual contrast; and as a population, they exhibited a lower-dimensional activity structure. Based on these results, our current view is that MEC attractor dynamics play a privileged role in resolving conflicts between path integration and landmarks during navigation. Future work should include carefully designed causal manipulations to rigorously test this idea, and expand the theoretical framework to incorporate notions of uncertainty and optimality.

During navigation, animals estimate their position using path integration and landmarks, engaging many brain areas. Whether these areas follow specialized or universal cue integration principles remains incompletely understood. We combine electrophysiology with virtual reality to quantify cue integration across thousands of neurons in three navigation-relevant areas: primary visual cortex (V1), retrosplenial cortex (RSC), and medial entorhinal cortex (MEC). Compared with V1 and RSC, path integration influences position estimates more in MEC, and conflicts between path integration and landmarks trigger remapping more readily. Whereas MEC codes position prospectively, V1 codes position retrospectively, and RSC is intermediate between the two. Lowered visual contrast increases the influence of path integration on position estimates only in MEC. These properties are most pronounced in a population of MEC neurons, overlapping with grid cells, tuned to distance run in darkness. These results demonstrate the specialized role that path integration plays in MEC compared with other navigation-relevant cortical areas.

Spike-driven adaptation involves intracellular mechanisms that are initiated by neural firing and lead to the subsequent reduction of spiking rate followed by a recovery back to baseline. We report on long (>0.5 second) recovery times from adaptation in a thalamic-like structure in weakly electric fish. This adaptation process is shown via modeling and experiment to encode in a spatially invariant manner the time intervals between event encounters, e.g. with landmarks as the animal learns the location of food. These cells also come in two varieties, ones that care only about the time since the last encounter, and others that care about the history of encounters. We discuss how the two populations can share in the task of representing sequences of events, supporting path integration and converting from ego-to-allocentric representations. The heterogeneity of the population parameters enables the representation and Bayesian decoding of time sequences of events which may be put to good use in path integration and hilus neuron function in hippocampus. Finally we discuss how all the cells of this gateway to the pallium exhibit mixed selectivity of social features of their environment. The data and computational modeling further reveal that, in contrast to a long-held belief, these gymnotiform fish are endowed with a corollary discharge, albeit only for social signalling.

The head direction (HD) system is classically modeled as a ring attractor network which ensures a stable representation of the animal’s head direction. This unidimensional description popularized the view of the HD system as the brain’s internal compass. However, unlike a globally consistent magnetic compass, the orientation of the HD system is dynamic, depends on local cues and exhibits remapping across familiar environments5. Such a system requires mechanisms to remember and align to familiar landmarks, which may not be well described within the classic 1-dimensional framework. To search for these mechanisms, we performed large population recordings of mouse thalamic HD cells using calcium imaging, during controlled manipulations of a visual landmark in a familiar environment. First, we find that realignment of the system was associated with a continuous rotation of the HD network representation. The speed and angular distance of this rotation was predicted by a 2nd dimension to the ring attractor which we refer to as network gain, i.e. the instantaneous population firing rate. Moreover, the 360-degree azimuthal profile of network gain, during darkness, maintained a ‘memory trace’ of a previously displayed visual landmark. In a 2nd experiment, brief presentations of a rotated landmark revealed an attraction of the network back to its initial orientation, suggesting a time-dependent mechanism underlying the formation of these network gain memory traces. Finally, in a 3rd experiment, continuous rotation of a visual landmark induced a similar rotation of the HD representation which persisted following removal of the landmark, demonstrating that HD network orientation is subject to experience-dependent recalibration. Together, these results provide new mechanistic insights into how the neural compass flexibly adapts to environmental cues to maintain a reliable representation of the head direction.

Tracking heading within an environment is a fundamental requirement for flexible, goal-directed navigation. In insects, a head-direction representation that guides the animal’s movements is maintained in a conserved brain region called the central complex. Two-photon calcium imaging of genetically targeted neural populations in the central complex of tethered fruit flies behaving in virtual reality (VR) environments has shown that the head-direction representation is updated based on self-motion cues and external sensory information, such as visual features and wind direction. Thus far, the head direction representation has mainly been studied in VR settings that only give flies control of the angular rotation of simple sensory cues. How the fly’s head direction circuitry enables the animal to navigate in dynamic, immersive and naturalistic environments is largely unexplored. I have developed a novel setup that permits imaging in complex VR environments that also accommodate flies’ translational movements. I have previously demonstrated that flies perform visually-guided navigation in such an immersive VR setting, and also that they learn to associate aversive optogenetically-generated heat stimuli with specific visual landmarks. A stable head direction representation is likely necessary to support such behaviors, but the underlying neural mechanisms are unclear. Based on a connectomic analysis of the central complex, I identified likely circuit mechanisms for prioritizing and combining different sensory cues to generate a stable head direction representation in complex, multimodal environments. I am now testing these predictions using calcium imaging in genetically targeted cell types in flies performing 2D navigation in immersive VR.

The regions of the insect brain devoted to spatial navigation are beautifully orderly, with a remarkably precise pattern of synaptic connections. Thus, we can learn much about the neural mechanisms of spatial navigation by targeting identifiable neurons in these networks for in vivo patch clamp recording and calcium imaging. Our lab has recently discovered that the "compass system" in the Drosophila brain is anchored to not only visual landmarks, but also the prevailing wind direction. Moreover, we found that the compass system can re-learn the relationship between these external sensory cues and internal self-motion cues, via rapid associative synaptic plasticity. Postsynaptic to compass neurons, we found neurons that conjunctively encode heading direction and body-centric translational velocity. We then showed how this representation of travel velocity is transformed from body- to world-centric coordinates at the subsequent layer of the network, two synapses downstream from compass neurons. By integrating this world-centric vector-velocity representation over time, it should be possible for the brain to form a stored representation of the body's path through the environment.