Deciphering the hippocampal polyglot: the hippocampus as a path integration system

Biologically based artificial navigation systems: review and prospects

Diverse theories of animal navigation aim at explaining how to determine and maintain a course from one place to another in the environment, although each presents a particular perspective with its own terminologies. These vocabularies sometimes overlap, but unfortunately with different meanings. This paper attempts to define precisely the existing concepts and terminologies, so as to describe comprehensively the different theories and models within the same unifying framework. We present navigation strategies within a four-level hierarchical framework based upon levels of complexity of required processing (Guidance, Place recognition-triggered Response, Topological navigation, Metric navigation). This classification is based upon what information is perceived, represented and processed. It contrasts with common distinctions based upon the availability of certain sensors or cues and rather stresses the information structure and content of central processors. We then review computational models of animal navigation, i.e. of animats. These are introduced along with the underlying conceptual basis in biological data drawn from behavioral and physiological experiments, with emphasis on theories of "spatial cognitive maps". The goal is to aid in deriving algorithms based upon insights into these processes, algorithms that can be useful both for psychobiologists and roboticists. The main observation is, however, that despite the fact that all reviewed models claim to have biological inspiration and that some of them explicitly use "Cognitive Map"-like mechanisms, they correspond to different levels of our proposed hierarchy and that none of them exhibits the main capabilities of real "Cognitive Maps"--in Tolman's sense--that is, a robust capacity for detour and shortcut behaviors.

Subicular cells generate similar spatial firing patterns in two geometrically and visually distinctive environments: comparison with hippocampal place cells

Cells in both the hippocampus and the subiculum show location related firing patterns, so that the momentary firing rate of a cell is related to the spatial location of a freely moving rat as it navigates in an environment. Since the subiculum receives a strong anatomical projection from the hippocampus, it seems possible that the subicular cell spatial patterns are simply driven by the spatial signals from hippocampal place cells. Data presented here, however, suggest that the two areas code space in fundamentally different ways. Here, spatial firing patterns of individual hippocampal and subicular cells were studied as rats navigated in two different environments. The two chambers were a cylinder and a square, of equal area. For some rats the two chambers were painted to have similar visual stimulus characteristics, while for others, the two were very different. The subicular cells showed very similar firing patterns in the two chambers, regardless of whether they were visually similar or different. In contrast, as predicted based on the findings of earlier studies, hippocampal place cells showed different patterns in the two (again, regardless of their visual similarity). These results suggest that the subicular cells have the ability to transfer a single, abstract spatial representation from one environment to another. This pattern is stretched to fit within the boundaries of the current environment. Thus, the subicular cells seem to provide a generic representation of the geometric relationships between different locations in an environment. It seems possible that this representation may contribute to some navigational abilities exhibited by animals, such as dead reckoning, and novel route generation in unfamiliar environments. In contrast, it appears that hippocampal place cells provide a spatial representation-which is unique for each environment and which is strongly influenced by the exact details and overall context of the situation.

Hippocampal lesions and path integration

Research on spatial problem-solving over the past two years has linked the hippocampus to path integration, that is, the use of movement-related cues to guide spatial behavior. Path integration may underlie the forms of place learning that are impaired by hippocampal damage. It remains a challenge to determine whether path integration is the central function of the hippocampus or but one of many.

Microdialysis-coupled place cell detection in the hippocampus: a new strategy for the search for cognition enhancer drugs

1. The MPCD method in freely moving rats is a new neuroscience technique. It is able to detect the location-specific firing of hippocampal place cells, and to deliver, via microdialysis, various drug solutions into the extracellular environment of the detected neurons. Place cells are critical elements of the neural system in brain which governs cognitive processes. It is emphasized in this article that effective cognition enhancer drugs must selectively and significantly affect the firing of these cells. 2. By using MPCD, it is possible to recognize drug combinations which can increase the location-specific firing of place cells to an optimal level. This paper proposes that such pharmacological action facilitates engram-creation in extrahippocampal cortical areas, improving cognitive functions. Thus, an MPCD-based research strategy may lead to the rational development of a new generation of cognition enhancer drugs for the treatment of learning and memory disorders, including Alzheimer's disease (AD).

How big is human memory, or on being just useful enough

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Perseveration on place reversals in spatial swimming pool tasks: further evidence for place learning in hippocampal rats

Animals with damage to the fimbria-fornix (FF) or cells of the hippocampus (HIP) can learn a place problem but cannot learn matching-to-place problems, which feature a series of place "reversals." The two experiments described in the present report were designed to examine the causes of impairment on reversal learning. In experiment 1, control, HIP, and FF groups were trained to asymptote on a place problem, and then the location of the platform was moved. Control rats learned the reversal response more quickly than the initial response; the HIP rats learned both problems at the same rate. Swim analysis showed that the impairment in the lesion group on the reversal response was aggravated by perseverative returns to the first learned place. In experiment 2, control and FF groups were trained on a task in which the platform was visible on three daily trials and hidden on one daily trial. After 10 days, the platforms were moved. In the reversal response, the FF group showed enhanced performance on the cue trials and severely impaired performance on the place trials relative to initial learning and control performance. Swim analysis showed that FF rats perseverated on the initial place response in place trials. These experiments provide further evidence for place learning in hippocampal rats and show that perseverative responses contribute to impairments in new learning. The results are discussed in relation to the idea that the hippocampus mediates spatial mapping and/or uses self-movement cues to solve spatial problems.

Cognitive maps beyond the hippocampus

We present a conceptual framework for the role of the hippocampus and its afferent and efferent structures in rodent navigation. Our proposal is compatible with the behavioral, neurophysiological, anatomical, and neuropharmacological literature, and suggests a number of practical experiments that could support or refute it. We begin with a review of place cells and how the place code for an environment might be aligned with sensory cues and updated by self-motion information. The existence of place fields in the dark suggests that location information is maintained by path integration, which requires an internal representation of direction of motion. This leads to a consideration of the organization of the rodent head direction system, and thence into a discussion of the computational structure and anatomical locus of the path integrator. If the place code is used in navigation, there must be a mechanism for selecting an action based on this information. We review evidence that the nucleus accumbens subserves this function. From there, we move to interactions between the hippocampal system and the environment, emphasizing mechanisms for learning novel environments and for aligning the various subsystems upon re-entry into familiar environments. We conclude with a discussion of the relationship between navigation and declarative memory.

Hippocampal participation in the sun compass orientation of phase-shifted homing pigeons

The orientation of phase-shifted control and hippocampal lesioned homing pigeons with previous homing experience was examined to investigate the possible participation of the hippocampal formation in sun compass orientation. Hippocampal lesioned pigeons displayed appropriate shifts in orientation indicating that such birds possess a functional sun compass that is used for orientation. However, their shift in orientation was consistently larger than in control pigeons revealing a difference in orientation never observed in pigeons that have not undergone a phase shift. Although alternative interpretations exist, the data suggest the intriguing possibility that following a change in the light-dark cycle, the hippocampal formation participates in the re-entrainment of a circadian rhythm that regulates sun compass orientation.

Spatial, behavioral and sensory correlates of hippocampal CA1 complex spike cell activity: implications for information processing functions

The aim of this review is to better understand hippocampal function drawing almost entirely from single unit recording studies of pyramidal cells in areas CA1 and CA3 of behaving animals. Hippocampal location-selectivity ("place cell activity") as well as place-independent behavioral correlates and sensory-triggered discharges are demonstrated to have common features: (1) abstraction, that is, development within the hippocampal circuit of novel, cue-invariant supramodal representations; (2) varying degrees of generalization or specificity; (3) capacity for abrupt changes in discharge correlates of individual neurons as the animal changes its behavior pattern or its environment changes dramatically; (4) though individual neurons discharge when the subject occupies a certain place, or performs a certain behavior, the ensemble of hippocampal neurons comprehensively represent the whole environment and all behaviors required for the task at hand. A concordance is proposed: hippocampal neuronal discharge correlates represent elements partitioned from information abstracted along one or more systems of categorization or "information domains": the physical structure of the environment, regularities in the behavioral exigencies of the current situation. (Sensory stimuli can be considered as temporally varying features of the environment) Location-selectivity and behavioral correlates are extreme cases, and mixed correlates occur. The hippocampus is proposed to carry out several fundamental processes that transform information: abstraction, partitioning and recombination, that is, formation of conjunctive associations between events. Simultaneously activated neurons could then promote extrahippocampal associations linking together the diverse brain regions at the origin of these signals.

Head direction cells: properties and functional significance

The strong signal carried by head direction cells in the postsubiculum complements the positional signal carried by hippocampal place cells; together, the directional and positional signals provide the information necessary to permit rats to generate and carry out intelligent, efficient solutions to spatial problems. Our opinion is that the hippocampal positional system acts as a cognitive map and that the role of the directional system is to put the map into register with the environment. In this way, paths found using the map can be properly executed. Head direction cells have recently been discovered in parts of the thalamus reciprocally connected with the postsubiculum; such cells provide important clues to the organization of the directional system.

Theory of rodent navigation based on interacting representations of space

We present a computational theory of navigation in rodents based on interacting representations of place, head direction, and local view. An associated computer model is able to replicate a variety of behavioral and neurophysiological results from the rodent navigation literature. The theory and model generate predictions that are testable with current technologies.

Considerations arising from a complementary learning systems perspective on hippocampus and neocortex

We discuss a framework for the organization of learning systems in the mammalian brain, in which the hippocampus and related areas form a memory system complementary to learning mechanisms in neocortex and other areas. The hippocampal system stores new episodes and "replays" them to the neocortical system, interleaved with ongoing experience, allowing generalization as cortical memories form. The data to account for include: 1) neurophysiological findings concerning representations in hippocampal areas, 2) behavioral evidence demonstrating a spatial role for hippocampus, 3) and effects of surgical and pharmacological manipulations on neuronal firing in hippocampal regions in behaving animals. We hypothesize that the hippocampal memory system consists of three major modules: 1) an invertible encoder subsystem supported by the pathways between neocortex and entorhinal cortex, which provides a stable, compressed, invertible encoding in entorhinal cortex (EC) of cortical activity patterns, 2) a memory separation, storage, and retrieval subsystem, supported by pathways between EC, dentate gyrus and area CA3, including the CA3 recurrent collaterals, which facilitates encoding and storage in CA3 of individual EC patterns, and retrieval of those CA3 encodings, in a manner that minimizes interference, and 3) a memory decoding subsystem, supported by the Shaffer collaterals from area CA1 to area CA3 and the bi-directional pathways between EC and CA3, which provides the means by which a retrieved CA3 coding of an EC pattern can reinstate that pattern on EC. This model has shown that 1) there is a trade-off between the need for information-preserving, structure-extracting encoding of cortical traces and the need for effective storage and recall of arbitrary traces, 2) long-term depression of synaptic strength in the pathways subject to long-term potentiation is crucial in preserving information, 3) area CA1 must be able to exploit correlations in EC patterns in the direct perforant path synapses.

Modeling the spontaneous reactivation of experience-specific hippocampal cell assembles during sleep

During slow-wave sleep (SWS) following periods of spatial activity, hippocampal place cells that were temporally correlated, by virtue of the overlap of their place fields, exhibit enhanced temporal correlations, even though the animal sleeps in a different location (Wilson and McNaughton [1994] Science 267:676-679). The discharge of cells with overlapped place fields is more correlated in subsequent sleep, particularly during sharp waves, than in sleep episodes prior to the behavior, or than cell pairs with non-overlapped place fields. The reactivated correlated states appear during hippocampal sharp waves (SPWs), and are weak or absent in the inter-SPW interval. A simple conceptual hypothesis for this phenomenon is developed, based on the idea that hippocampal place fields reflect a two-dimensional distribution of continuously overlapping dynamic attractors in which each location is represented by the self-sustaining activity of a small subset of neurons with overlapping place fields. A numerical simulation of this hypothesis, based on a simplified representation of the CA8 recurrent network, accounts qualitatively for the main observations, including SPW-like dynamics. It is shown that, under conditions in which the connection patterns have been previously established, either associative or nonassociative mechanisms might underlie the reactivation of recently experienced states. These two alternatives appear, under at least some conditions (e.g., sparse coding), to be indistinguishable.

Neuronal computations underlying the firing of place cells and their role in navigation

Our model of the spatial and temporal aspects of place cell firing and their role in rat navigation is reviewed. The model provides a candidate mechanism, at the level of individual cells, by which place cell information concerning self-localization could be used to guide navigation to previously visited reward sites. The model embodies specific predictions regarding the formation of place fields, the phase coding of place cell firing with respect to the hippocampal theta rhythm, and the formation of neuronal population vectors downstream from the place cells that code for the directions of goals during navigation. Recent experiments regarding the spatial distribution of place cell firing have confirmed our initial modeling hypothesis, that place fields are formed from Gaussian tuning curve inputs coding for the distances from environmental features, and enabled us to further specify the functional form of these inputs. Other recent experiments regarding the temporal distribution of place cell firing in two-dimensional environments have confirmed our predictions based on the temporal aspects of place cell firing on linear tracks. Directions for further experiments and refinements to the model are outlined for the future.