A model of non-elemental olfactory learning in Drosophila

A lightweight data-driven spiking neuronal network model of Drosophila olfactory nervous system with dedicated hardware support

Data-driven spiking neuronal network (SNN) models enable in-silico analysis of the nervous system at the cellular and synaptic level. Therefore, they are a key tool for elucidating the information processing principles of the brain. While extensive research has focused on developing data-driven SNN models for mammalian brains, their complexity poses challenges in achieving precision. Network topology often relies on statistical inference, and the functions of specific brain regions and supporting neuronal activities remain unclear. Additionally, these models demand huge computing facilities and their simulation speed is considerably slower than real-time. Here, we propose a lightweight data-driven SNN model that strikes a balance between simplicity and reproducibility. The model is built using a qualitative modeling approach that can reproduce key dynamics of neuronal activity. We target the Drosophila olfactory nervous system, extracting its network topology from connectome data. The model was successfully implemented on a small entry-level field-programmable gate array and simulated the activity of a network in real-time. In addition, the model reproduced olfactory associative learning, the primary function of the olfactory system, and characteristic spiking activities of different neuron types. In sum, this paper propose a method for building data-driven SNN models from biological data. Our approach reproduces the function and neuronal activities of the nervous system and is lightweight, acceleratable with dedicated hardware, making it scalable to large-scale networks. Therefore, our approach is expected to play an important role in elucidating the brain's information processing at the cellular and synaptic level through an analysis-by-construction approach. In addition, it may be applicable to edge artificial intelligence systems in the future.

Beyond prediction error: 25 years of modeling the associations formed in the insect mushroom body

The insect mushroom body has gained increasing attention as a system in which the computational basis of neural learning circuits can be unraveled. We now understand in detail the key locations in this circuit where synaptic associations are formed between sensory patterns and values leading to actions. However, the actual learning rule (or rules) implemented by neural activity and leading to synaptic change is still an open question. Here, I survey the diversity of answers that have been offered in computational models of this system over the past decades, including the recurring assumption-in line with top-down theories of associative learning-that the core function is to reduce prediction error. However, I will argue, a more bottom-up approach may ultimately reveal a richer algorithmic capacity in this still enigmatic brain neuropil.

Prediction error drives associative learning and conditioned behavior in a spiking model of Drosophila larva

Predicting reinforcement from sensory cues is beneficial for goal-directed behavior. In insect brains, underlying associations between cues and reinforcement, encoded by dopaminergic neurons, are formed in the mushroom body. We propose a spiking model of the Drosophila larva mushroom body. It includes a feedback motif conveying learned reinforcement expectation to dopaminergic neurons, which can compute prediction error as the difference between expected and present reinforcement. We demonstrate that this can serve as a driving force in learning. When combined with synaptic homeostasis, our model accounts for theoretically derived features of acquisition and loss of associations that depend on the intensity of the reinforcement and its temporal proximity to the cue. From modeling olfactory learning over the time course of behavioral experiments and simulating the locomotion of individual larvae toward or away from odor sources in a virtual environment, we conclude that learning driven by prediction errors can explain larval behavior.

Minimal circuit motifs for second-order conditioning in the insect mushroom body

In well-established first-order conditioning experiments, the concurrence of a sensory cue with reinforcement forms an association, allowing the cue to predict future reinforcement. In the insect mushroom body, a brain region central to learning and memory, such associations are encoded in the synapses between its intrinsic and output neurons. This process is mediated by the activity of dopaminergic neurons that encode reinforcement signals. In second-order conditioning, a new sensory cue is paired with an already established one that presumably activates dopaminergic neurons due to its predictive power of the reinforcement. We explored minimal circuit motifs in the mushroom body for their ability to support second-order conditioning using mechanistic models. We found that dopaminergic neurons can either be activated directly by the mushroom body's intrinsic neurons or via feedback from the output neurons via several pathways. We demonstrated that the circuit motifs differ in their computational efficiency and robustness. Beyond previous research, we suggest an additional motif that relies on feedforward input of the mushroom body intrinsic neurons to dopaminergic neurons as a promising candidate for experimental evaluation. It differentiates well between trained and novel stimuli, demonstrating robust performance across a range of model parameters.

An incentive circuit for memory dynamics in the mushroom body of Drosophila melanogaster

Insects adapt their response to stimuli, such as odours, according to their pairing with positive or negative reinforcements, such as sugar or shock. Recent electrophysiological and imaging findings in Drosophila melanogaster allow detailed examination of the neural mechanisms supporting the acquisition, forgetting, and assimilation of memories. We propose that this data can be explained by the combination of a dopaminergic plasticity rule that supports a variety of synaptic strength change phenomena, and a circuit structure (derived from neuroanatomy) between dopaminergic and output neurons that creates different roles for specific neurons. Computational modelling shows that this circuit allows for rapid memory acquisition, transfer from short term to long term, and exploration/exploitation trade-off. The model can reproduce the observed changes in the activity of each of the identified neurons in conditioning paradigms and can be used for flexible behavioural control.

How the insect central complex could coordinate multimodal navigation

The central complex of the insect midbrain is thought to coordinate insect guidance strategies. Computational models can account for specific behaviours, but their applicability across sensory and task domains remains untested. Here, we assess the capacity of our previous model (Sun et al. 2020) of visual navigation to generalise to olfactory navigation and its coordination with other guidance in flies and ants. We show that fundamental to this capacity is the use of a biologically plausible neural copy-and-shift mechanism that ensures sensory information is presented in a format compatible with the insect steering circuit regardless of its source. Moreover, the same mechanism is shown to allow the transfer cues from unstable/egocentric to stable/geocentric frames of reference, providing a first account of the mechanism by which foraging insects robustly recover from environmental disturbances. We propose that these circuits can be flexibly repurposed by different insect navigators to address their unique ecological needs.

A Mechanistic Model for Reward Prediction and Extinction Learning in the Fruit Fly

Extinction learning, the ability to update previously learned information by integrating novel contradictory information, is of high clinical relevance for therapeutic approaches to the modulation of maladaptive memories. Insect models have been instrumental in uncovering fundamental processes of memory formation and memory update. Recent experimental results in Drosophila melanogaster suggest that, after the behavioral extinction of a memory, two parallel but opposing memory traces coexist, residing at different sites within the mushroom body (MB). Here, we propose a minimalistic circuit model of the Drosophila MB that supports classical appetitive and aversive conditioning and memory extinction. The model is tailored to the existing anatomic data and involves two circuit motives of central functional importance. It employs plastic synaptic connections between Kenyon cells (KCs) and MB output neurons (MBONs) in separate and mutually inhibiting appetitive and aversive learning pathways. Recurrent modulation of plasticity through projections from MBONs to reinforcement-mediating dopaminergic neurons (DAN) implements a simple reward prediction mechanism. A distinct set of four MBONs encodes odor valence and predicts behavioral model output. Subjecting our model to learning and extinction protocols reproduced experimental results from recent behavioral and imaging studies. Simulating the experimental blocking of synaptic output of individual neurons or neuron groups in the model circuit confirmed experimental results and allowed formulation of testable predictions. In the temporal domain, our model achieves rapid learning with a step-like increase in the encoded odor value after a single pairing of the conditioned stimulus (CS) with a reward or punishment, facilitating single-trial learning.

Fruit flies can learn non-elemental olfactory discriminations

Associative learning allows animals to establish links between stimuli based on their concomitance. In the case of Pavlovian conditioning, a single stimulus A (the conditional stimulus, CS) is reinforced unambiguously with an unconditional stimulus (US) eliciting an innate response. This conditioning constitutes an 'elemental' association to elicit a learnt response from A+ without US presentation after learning. However, associative learning may involve a 'complex' CS composed of several components. In that case, the compound may predict a different outcome than the components taken separately, leading to ambiguity and requiring the animal to perform so-called non-elemental discrimination. Here, we focus on such a non-elemental task, the negative patterning (NP) problem, and provide the first evidence of NP solving in Drosophila. We show that Drosophila learn to discriminate a simple component (A or B) associated with electric shocks (+) from an odour mixture composed either partly (called 'feature-negative discrimination' A+ versus AB-) or entirely (called 'NP' A+B+ versus AB-) of the shock-associated components. Furthermore, we show that conditioning repetition results in a transition from an elemental to a configural representation of the mixture required to solve the NP task, highlighting the cognitive flexibility of Drosophila.

A spiking neural program for sensorimotor control during foraging in flying insects

Foraging is a vital behavioral task for living organisms. Behavioral strategies and abstract mathematical models thereof have been described in detail for various species. To explore the link between underlying neural circuits and computational principles, we present how a biologically detailed neural circuit model of the insect mushroom body implements sensory processing, learning, and motor control. We focus on cast and surge strategies employed by flying insects when foraging within turbulent odor plumes. Using a spike-based plasticity rule, the model rapidly learns to associate individual olfactory sensory cues paired with food in a classical conditioning paradigm. We show that, without retraining, the system dynamically recalls memories to detect relevant cues in complex sensory scenes. Accumulation of this sensory evidence on short time scales generates cast-and-surge motor commands. Our generic systems approach predicts that population sparseness facilitates learning, while temporal sparseness is required for dynamic memory recall and precise behavioral control. Our work successfully combines biological computational principles with spike-based machine learning. It shows how knowledge transfer from static to arbitrary complex dynamic conditions can be achieved by foraging insects and may serve as inspiration for agent-based machine learning.

Circuit and Cellular Mechanisms Facilitate the Transformation from Dense to Sparse Coding in the Insect Olfactory System

Transformations between sensory representations are shaped by neural mechanisms at the cellular and the circuit level. In the insect olfactory system, the encoding of odor information undergoes a transition from a dense spatiotemporal population code in the antennal lobe to a sparse code in the mushroom body. However, the exact mechanisms shaping odor representations and their role in sensory processing are incompletely identified. Here, we investigate the transformation from dense to sparse odor representations in a spiking model of the insect olfactory system, focusing on two ubiquitous neural mechanisms: spike frequency adaptation at the cellular level and lateral inhibition at the circuit level. We find that cellular adaptation is essential for sparse representations in time (temporal sparseness), while lateral inhibition regulates sparseness in the neuronal space (population sparseness). The interplay of both mechanisms shapes spatiotemporal odor representations, which are optimized for the discrimination of odors during stimulus onset and offset. Response pattern correlation across different stimuli showed a nonmonotonic dependence on the strength of lateral inhibition with an optimum at intermediate levels, which is explained by two counteracting mechanisms. In addition, we find that odor identity is stored on a prolonged timescale in the adaptation levels but not in the spiking activity of the principal cells of the mushroom body, providing a testable hypothesis for the location of the so-called odor trace.

Adaptive integrate-and-fire model reproduces the dynamics of olfactory receptor neuron responses in a moth

In order to understand how olfactory stimuli are encoded and processed in the brain, it is important to build a computational model for olfactory receptor neurons (ORNs). Here, we present a simple and reliable mathematical model of a moth ORN generating spikes. The model incorporates a simplified description of the chemical kinetics leading to olfactory receptor activation and action potential generation. We show that an adaptive spike threshold regulated by prior spike history is an effective mechanism for reproducing the typical phasic-tonic time course of ORN responses. Our model reproduces the response dynamics of individual neurons to a fluctuating stimulus that approximates odorant fluctuations in nature. The parameters of the spike threshold are essential for reproducing the response heterogeneity in ORNs. The model provides a valuable tool for efficient simulations of olfactory circuits.

A neural network model for familiarity and context learning during honeybee foraging flights

How complex is the memory structure that honeybees use to navigate? Recently, an insect-inspired parsimonious spiking neural network model was proposed that enabled simulated ground-moving agents to follow learned routes. We adapted this model to flying insects and evaluate the route following performance in three different worlds with gradually decreasing object density. In addition, we propose an extension to the model to enable the model to associate sensory input with a behavioral context, such as foraging or homing. The spiking neural network model makes use of a sparse stimulus representation in the mushroom body and reward-based synaptic plasticity at its output synapses. In our experiments, simulated bees were able to navigate correctly even when panoramic cues were missing. The context extension we propose enabled agents to successfully discriminate partly overlapping routes. The structure of the visual environment, however, crucially determines the success rate. We find that the model fails more often in visually rich environments due to the overlap of features represented by the Kenyon cell layer. Reducing the landmark density improves the agents route following performance. In very sparse environments, we find that extended landmarks, such as roads or field edges, may help the agent stay on its route, but often act as strong distractors yielding poor route following performance. We conclude that the presented model is valid for simple route following tasks and may represent one component of insect navigation. Additional components might still be necessary for guidance and action selection while navigating along different memorized routes in complex natural environments.

Behavioral Evidence for Enhanced Processing of the Minor Component of Binary Odor Mixtures in Larval Drosophila

A fundamental problem in deciding between mutually exclusive options is that the decision needs to be categorical although the properties of the options often differ but in grade. We developed an experimental handle to study this aspect of behavior organization. Larval Drosophila were trained such that in one set of animals odor A was rewarded, but odor B was not (A+/B), whereas a second set of animals was trained reciprocally (A/B+). We then measured the preference of the larvae either for A, or for B, or for "morphed" mixtures of A and B, that is for mixtures differing in the ratio of the two components. As expected, the larvae showed higher preference when only the previously rewarded odor was presented than when only the previously unrewarded odor was presented. For mixtures of A and B that differed in the ratio of the two components, the major component dominated preference behavior-but it dominated less than expected from a linear relationship between mixture ratio and preference behavior. This suggests that a minor component can have an enhanced impact in a mixture, relative to such a linear expectation. The current paradigm may prove useful in understanding how nervous systems generate discrete outputs in the face of inputs that differ only gradually.

Vision for navigation: What can we learn from ants?

The visual systems of all animals are used to provide information that can guide behaviour. In some cases insects demonstrate particularly impressive visually-guided behaviour and then we might reasonably ask how the low-resolution vision and limited neural resources of insects are tuned to particular behavioural strategies. Such questions are of interest to both biologists and to engineers seeking to emulate insect-level performance with lightweight hardware. One behaviour that insects share with many animals is the use of learnt visual information for navigation. Desert ants, in particular, are expert visual navigators. Across their foraging life, ants can learn long idiosyncratic foraging routes. What's more, these routes are learnt quickly and the visual cues that define them can be implemented for guidance independently of other social or personal information. Here we review the style of visual navigation in solitary foraging ants and consider the physiological mechanisms that underpin it. Our perspective is to consider that robust navigation comes from the optimal interaction between behavioural strategy, visual mechanisms and neural hardware. We consider each of these in turn, highlighting the value of ant-like mechanisms in biomimetic endeavours.

Olfactory learning without the mushroom bodies: Spiking neural network models of the honeybee lateral antennal lobe tract reveal its capacities in odour memory tasks of varied complexities

The honeybee olfactory system is a well-established model for understanding functional mechanisms of learning and memory. Olfactory stimuli are first processed in the antennal lobe, and then transferred to the mushroom body and lateral horn through dual pathways termed medial and lateral antennal lobe tracts (m-ALT and l-ALT). Recent studies reported that honeybees can perform elemental learning by associating an odour with a reward signal even after lesions in m-ALT or blocking the mushroom bodies. To test the hypothesis that the lateral pathway (l-ALT) is sufficient for elemental learning, we modelled local computation within glomeruli in antennal lobes with axons of projection neurons connecting to a decision neuron (LHN) in the lateral horn. We show that inhibitory spike-timing dependent plasticity (modelling non-associative plasticity by exposure to different stimuli) in the synapses from local neurons to projection neurons decorrelates the projection neurons' outputs. The strength of the decorrelations is regulated by global inhibitory feedback within antennal lobes to the projection neurons. By additionally modelling octopaminergic modification of synaptic plasticity among local neurons in the antennal lobes and projection neurons to LHN connections, the model can discriminate and generalize olfactory stimuli. Although positive patterning can be accounted for by the l-ALT model, negative patterning requires further processing and mushroom body circuits. Thus, our model explains several-but not all-types of associative olfactory learning and generalization by a few neural layers of odour processing in the l-ALT. As an outcome of the combination between non-associative and associative learning, the modelling approach allows us to link changes in structural organization of honeybees' antennal lobes with their behavioural performances over the course of their life.

Motor-Skill Learning in an Insect Inspired Neuro-Computational Control System

In nature, insects show impressive adaptation and learning capabilities. The proposed computational model takes inspiration from specific structures of the insect brain: after proposing key hypotheses on the direct involvement of the mushroom bodies (MBs) and on their neural organization, we developed a new architecture for motor learning to be applied in insect-like walking robots. The proposed model is a nonlinear control system based on spiking neurons. MBs are modeled as a nonlinear recurrent spiking neural network (SNN) with novel characteristics, able to memorize time evolutions of key parameters of the neural motor controller, so that existing motor primitives can be improved. The adopted control scheme enables the structure to efficiently cope with goal-oriented behavioral motor tasks. Here, a six-legged structure, showing a steady-state exponentially stable locomotion pattern, is exposed to the need of learning new motor skills: moving through the environment, the structure is able to modulate motor commands and implements an obstacle climbing procedure. Experimental results on a simulated hexapod robot are reported; they are obtained in a dynamic simulation environment and the robot mimicks the structures of Drosophila melanogaster.

A Simple Computational Model of the Bee Mushroom Body Can Explain Seemingly Complex Forms of Olfactory Learning and Memory

Honeybees are models for studying how animals with relatively small brains accomplish complex cognition, displaying seemingly advanced (or "non-elemental") learning phenomena involving multiple conditioned stimuli. These include "peak shift" [1-4]-where animals not only respond to entrained stimuli, but respond even more strongly to similar ones that are farther away from non-rewarding stimuli. Bees also display negative and positive patterning discrimination [5], responding in opposite ways to mixtures of two odors than to individual odors. Since Pavlov, it has often been assumed that such phenomena are more complex than simple associate learning. We present a model of connections between olfactory sensory input and bees' mushroom bodies [6], incorporating empirically determined properties of mushroom body circuitry (random connectivity [7], sparse coding [8], and synaptic plasticity [9, 10]). We chose not to optimize the model's parameters to replicate specific behavioral phenomena, because we were interested in the emergent cognitive capacities that would pop out of a network constructed solely based on empirical neuroscientific information and plausible assumptions for unknown parameters. We demonstrate that the circuitry mediating "simple" associative learning can also replicate the various non-elemental forms of learning mentioned above and can effectively multi-task by replicating a range of different learning feats. We found that PN-KC synaptic plasticity is crucial in controlling the generalization-discrimination trade-off-it facilitates peak shift and hinders patterning discrimination-and that PN-to-KC connection number can affect this trade-off. These findings question the notion that forms of learning that have been regarded as "higher order" are computationally more complex than "simple" associative learning.

Neural mechanisms of insect navigation

We know more about the ethology of insect navigation than the neural substrates. Few studies have shown direct effects of brain manipulation on navigational behaviour; or measure brain responses that clearly relate to the animal's current location or spatial target, independently of specific sensory cues. This is partly due to the methodological problems of obtaining neural data in a naturally behaving animal. However, substantial indirect evidence, such as comparative anatomy and knowledge of the neural circuits that provide relevant sensory inputs provide converging arguments for the role of some specific brain areas: the mushroom bodies; and the central complex. Finally, modelling can help bridge the gap by relating the computational requirements of a given navigational task to the type of computation offered by different brain areas.

Using an Insect Mushroom Body Circuit to Encode Route Memory in Complex Natural Environments

Ants, like many other animals, use visual memory to follow extended routes through complex environments, but it is unknown how their small brains implement this capability. The mushroom body neuropils have been identified as a crucial memory circuit in the insect brain, but their function has mostly been explored for simple olfactory association tasks. We show that a spiking neural model of this circuit originally developed to describe fruitfly (Drosophila melanogaster) olfactory association, can also account for the ability of desert ants (Cataglyphis velox) to rapidly learn visual routes through complex natural environments. We further demonstrate that abstracting the key computational principles of this circuit, which include one-shot learning of sparse codes, enables the theoretical storage capacity of the ant mushroom body to be estimated at hundreds of independent images.

Computational models to understand decision making and pattern recognition in the insect brain

Odor stimuli reaching olfactory systems of mammals and insects are characterized by remarkable non-stationary and noisy time series. Their brains have evolved to discriminate subtle changes in odor mixtures and find meaningful variations in complex spatio-temporal patterns. Insects with small brains can effectively solve two computational tasks: identify the presence of an odor type and estimate the concentration levels of the odor. Understanding the learning and decision making processes in the insect brain can not only help us to uncover general principles of information processing in the brain, but it can also provide key insights to artificial chemical sensing. Both olfactory learning and memory are dominantly organized in the Antennal Lobe (AL) and the Mushroom Bodies (MBs). Current computational models yet fail to deliver an integrated picture of the joint computational roles of the AL and MBs. This review intends to provide an integrative overview of the computational literature analyzed in the context of the problem of classification (odor discrimination) and regression (odor concentration estimation), particularly identifying key computational ingredients necessary to solve pattern recognition.

Rapid learning dynamics in individual honeybees during classical conditioning

Associative learning in insects has been studied extensively by a multitude of classical conditioning protocols. However, so far little emphasis has been put on the dynamics of learning in individuals. The honeybee is a well-established animal model for learning and memory. We here studied associative learning as expressed in individual behavior based on a large collection of data on olfactory classical conditioning (25 datasets, 3298 animals). We show that the group-averaged learning curve and memory retention score confound three attributes of individual learning: the ability or inability to learn a given task, the generally fast acquisition of a conditioned response (CR) in learners, and the high stability of the CR during consecutive training and memory retention trials. We reassessed the prevailing view that more training results in better memory performance and found that 24 h memory retention can be indistinguishable after single-trial and multiple-trial conditioning in individuals. We explain how inter-individual differences in learning can be accommodated within the Rescorla–Wagner theory of associative learning. In both data-analysis and modeling we demonstrate how the conflict between population-level and single-animal perspectives on learning and memory can be disentangled.

Concentration-invariant odor representation in the olfactory system by presynaptic inhibition

The present study investigates a network model for implementing concentration-invariant representation for odors in the olfactory system. The network consists of olfactory receptor neurons, projection neurons, and inhibitory local neurons. Receptor neurons send excitatory inputs to projection neurons, which are modulated by the inhibitory inputs from local neurons. The modulation occurs at the presynaptic site from a receptor neuron to a projection one, leading to the operation of divisive normalization. The responses of local interneurons are determined by the total activities of olfactory receptor neurons. We find that with a proper parameter condition, the responses of projection neurons become effectively independent of the odor concentration. Simulation results confirm our theoretical analysis.

What is comparable in comparative cognition?

To understand how complex, or 'advanced' various forms of cognition are, and to compare them between species for evolutionary studies, we need to understand the diversity of neural-computational mechanisms that may be involved, and to identify the genetic changes that are necessary to mediate changes in cognitive functions. The same overt cognitive capacity might be mediated by entirely different neural circuitries in different species, with a many-to-one mapping between behavioural routines, computations and their neural implementations. Comparative behavioural research needs to be complemented with a bottom-up approach in which neurobiological and molecular-genetic analyses allow pinpointing of underlying neural and genetic bases that constrain cognitive variation. Often, only very minor differences in circuitry might be needed to generate major shifts in cognitive functions and the possibility that cognitive traits arise by convergence or parallel evolution needs to be taken seriously. Hereditary variation in cognitive traits between individuals of a species might be extensive, and selection experiments on cognitive traits might be a useful avenue to explore how rapidly changes in cognitive abilities occur in the face of pertinent selection pressures.

Modeling the insect mushroom bodies: application to a delayed match-to-sample task

Despite their small brains, insects show advanced capabilities in learning and task solving. Flies, honeybees and ants are becoming a reference point in neuroscience and a main source of inspiration for autonomous robot design issues and control algorithms. In particular, honeybees demonstrate to be able to autonomously abstract complex associations and apply them in tasks involving different sensory modalities within the insect brain. Mushroom Bodies (MBs) are worthy of primary attention for understanding memory and learning functions in insects. In fact, even if their main role regards olfactory conditioning, they are involved in many behavioral achievements and learning capabilities, as has been shown in honeybees and flies. Owing to the many neurogenetic tools, the fruit fly Drosophila became a source of information for the neuroarchitecture and biochemistry of the MBs, although the MBs of flies are by far simpler in organization than their honeybee orthologs. Electrophysiological studies, in turn, became available on the MBs of locusts and honeybees. In this paper a novel bio-inspired neural architecture is presented, which represents a generalized insect MB with the basic features taken from fruit fly neuroanatomy. By mimicking a number of different MB functions and architecture, we can replace and improve formerly used artificial neural networks. The model is a multi-layer spiking neural network where key elements of the insect brain, the antennal lobes, the lateral horn region, the MBs, and their mutual interactions are modeled. In particular, the model is based on the role of parts of the MBs named MB-lobes, where interesting processing mechanisms arise on the basis of spatio-temporal pattern formation. The introduced network is able to model learning mechanisms like olfactory conditioning seen in honeybees and flies and was found able also to perform more complex and abstract associations, like the delayed matching-to-sample tasks known only from honeybees. A biological basis of the proposed model is presented together with a detailed description of the architecture. Simulation results and remarks on the biological counterpart are also reported to demonstrate the possible applications of the designed computational model. Such neural architecture, able to autonomously learn complex associations is envisaged to be a suitable basis for an immediate implementation within an robot control architecture.