It is common for animals to use self-generated movements to actively sense the surrounding environment. For instance, rodents rhythmically move their whiskers to explore the space close to their body. The mouse whisker system has become a standard model to study active sensing and sensorimotor integration through feedback loops. In this work, we developed a bioinspired spiking neural network model of the sensorimotor peripheral whisker system, modelling trigeminal ganglion, trigeminal nuclei, facial nuclei, and central pattern generator neuronal populations. This network was embedded in a virtual mouse robot, exploiting the Neurorobotics Platform, a simulation platform offering a virtual environment to develop and test robots driven by brain-inspired controllers. Eventually, the peripheral whisker system was properly connected to an adaptive cerebellar network controller. The whole system was able to drive active whisking with learning capability, matching neural correlates of behaviour experimentally recorded in mice.

Rhythmic activity in the brain has been reported in relation to a wide range of cognitive processes. Changes in the rhythmic activity have been related to pathological states. These observations raise the question of the origin of these rhythms: can the mechanisms responsible for generation of these rhythms and that allow the propagation of the rhythmic signal be acquired via a process of learning? In my talk I will focus on spike timing dependent plasticity (STDP) and examine under what conditions this unsupervised learning rule can facilitate the propagation of rhythmic activity downstream in the central nervous system. Next, the I will apply the theory of STDP to the whisker system and demonstrate how STDP can shape the distribution of preferred phases of firing in a downstream population. Interestingly, in both these cases STDP dynamics does not relax to a fixed-point solution, rather the synaptic weights remain dynamic. Nevertheless, STDP allows for the system to retain its functionality in the face of continuous remodeling of the entire synaptic population.

Sequential temporal ordering and patterning are key features of natural signals, used by the brain to decode stimuli and perceive them as sensory objects. Touch is one sensory modality where temporal patterning carries key information, and the rodent whisker system is a prominent model for understanding neuronal coding and plasticity underlying touch sensation. Neurons in this system are precise encoders of fluctuations in whisker dynamics down to a timescale of milliseconds, but it is not clear whether they can refine their encoding abilities as a result of learning patterned stimuli. For example, can they enhance temporal integration to become better at distinguishing sequences? To explore how cortical coding plasticity underpins sequence discrimination, we developed a task in which mice distinguished between tactile ‘word’ sequences constructed from distinct vibrations delivered to the whiskers, assembled in different orders. Animals licked to report the presence of the target sequence. Optogenetic inactivation showed that the somatosensory cortex was necessary for sequence discrimination. Two-photon imaging in layer 2/3 of the primary somatosensory “barrel” cortex (S1bf) revealed that, in well-trained animals, neurons had heterogeneous selectivity to multiple task variables including not just sensory input but also the animal’s action decision and the trial outcome (presence or absence of the predicted reward). Many neurons were activated preceding goal-directed licking, thus reflecting the animal’s learnt action in response to the target sequence; these neurons were found as soon as mice learned to associate the rewarded sequence with licking. In contrast, learning evoked smaller changes in sensory response tuning: neurons responding to stimulus features were already found in naïve mice, and training did not generate neurons with enhanced temporal integration or categorical responses. Therefore, in S1bf sequence learning results in neurons whose activity reflects the learnt association between target sequence and licking, rather than a refined representation of sensory features. Taken together with results from other laboratories, our findings suggest that neurons in sensory cortex are involved in task-specific processing and that an animal does not sense the world independently of what it needs to feel in order to guide behaviour.