Thalamic control of cortical dynamics in a model of flexible motor sequencing

A model of thalamo-cortical interaction for incremental binding in mental contour-tracing

Object-basd visual attention marks a key process of mammalian perception. By which mechanisms this process is implemented and how it can be interacted with by means of attentional control is not completely understood yet. Incremental binding is a mechanism required in demanding scenarios of object-based attention and is experimentally well investigated. Attention spreads across a representation of the visual object and labels bound elements by constant up-modulation of neural activity. The speed of incremental binding was found to be dependent on the spatial arrangement of distracting elements in the scene and to be scale invariant giving rise to the growth-cone hypothesis. In this work, we propose a neural dynamical model of incremental binding that provides a mechanistic account for these findings. Through simulations, we investigate the model properties and demonstrate how an attentional spreading mechanism tags neurons that participate in the object binding process. They utilize Gestalt properties and eventually show growth-cone characteristics labeling perceptual items by delayed activity enhancement of neuronal firing rates. We discuss the algorithmic process underlying incremental binding and relate it to our model computations. This theoretical investigation encompasses complexity considerations and finds the model to be not only of explanatory value in terms of neurophysiological evidence, but also to be an efficient implementation of incremental binding striving to establish a normative account. By relating the connectivity motifs of the model to neuroanatomical evidence, we suggest thalamo-cortical interactions to be a likely candidate for the flexible and efficient realization suggested by the model. There, pyramidal cells are proposed to serve as the processors of incremental grouping information. Local bottom-up evidence about stimulus features is integrated via basal dendritic sites. It is combined with an apical signal consisting of contextual grouping information which is gated by attentional task-relevance selection mediated via higher-order thalamic representations.

Chaotic recurrent neural networks for brain modelling: A review

Even in the absence of external stimuli, the brain is spontaneously active. Indeed, most cortical activity is internally generated by recurrence. Both theoretical and experimental studies suggest that chaotic dynamics characterize this spontaneous activity. While the precise function of brain chaotic activity is still puzzling, we know that chaos confers many advantages. From a computational perspective, chaos enhances the complexity of network dynamics. From a behavioural point of view, chaotic activity could generate the variability required for exploration. Furthermore, information storage and transfer are maximized at the critical border between order and chaos. Despite these benefits, many computational brain models avoid incorporating spontaneous chaotic activity due to the challenges it poses for learning algorithms. In recent years, however, multiple approaches have been proposed to overcome this limitation. As a result, many different algorithms have been developed, initially within the reservoir computing paradigm. Over time, the field has evolved to increase the biological plausibility and performance of the algorithms, sometimes going beyond the reservoir computing framework. In this review article, we examine the computational benefits of chaos and the unique properties of chaotic recurrent neural networks, with a particular focus on those typically utilized in reservoir computing. We also provide a detailed analysis of the algorithms designed to train chaotic RNNs, tracing their historical evolution and highlighting key milestones in their development. Finally, we explore the applications and limitations of chaotic RNNs for brain modelling, consider their potential broader impacts beyond neuroscience, and outline promising directions for future research.

The Computational Bottleneck of Basal Ganglia Output (and What to Do About it)

What the basal ganglia do is an oft-asked question; answers range from the selection of actions to the specification of movement to the estimation of time. Here, I argue that how the basal ganglia do what they do is a less-asked but equally important question. I show that the output regions of the basal ganglia create a stringent computational bottleneck, both structurally, because they have far fewer neurons than do their target regions, and dynamically, because of their tonic, inhibitory output. My proposed solution to this bottleneck is that the activity of an output neuron is setting the weight of a basis function, a function defined by that neuron's synaptic contacts. I illustrate how this may work in practice, allowing basal ganglia output to shift cortical dynamics and control eye movements via the superior colliculus. This solution can account for troubling issues in our understanding of the basal ganglia: why we see output neurons increasing their activity during behavior, rather than only decreasing as predicted by theories based on disinhibition, and why the output of the basal ganglia seems to have so many codes squashed into such a tiny region of the brain.

Mediodorsal thalamus regulates task uncertainty to enable cognitive flexibility

The mediodorsal (MD) thalamus is a critical partner for the prefrontal cortex (PFC) in cognitive control. Accumulating evidence has shown that the MD regulates task uncertainty in decision making and enhance cognitive flexibility. However, the computational mechanism of this cognitive process remains unclear. Here we trained biologically-constrained computational models to delineate the mechanistic role of MD in context-dependent decision making. We show that the addition of a feedforward MD structure to the recurrent PFC increases robustness to low cueing signal-to-noise ratio, enhances working memory, and enables rapid context switching. Incorporating genetically identified thalamocortical connectivity and interneuron cell types into the model replicates key neurophysiological findings in task-performing animals. Our model reveals computational mechanisms and geometric interpretations of MD in regulating cue uncertainty and context switching to enable cognitive flexibility. Our model makes experimentally testable predictions linking cognitive deficits with disrupted thalamocortical connectivity, prefrontal excitation-inhibition imbalance and dysfunctional inhibitory cell types.

Identifying the impact of local connectivity patterns on dynamics in excitatory-inhibitory networks

Networks of excitatory and inhibitory (EI) neurons form a canonical circuit in the brain. Seminal theoretical results on dynamics of such networks are based on the assumption that synaptic strengths depend on the type of neurons they connect, but are otherwise statistically independent. Recent synaptic physiology datasets however highlight the prominence of specific connectivity patterns that go well beyond what is expected from independent connections. While decades of influential research have demonstrated the strong role of the basic EI cell type structure, to which extent additional connectivity features influence dynamics remains to be fully determined. Here we examine the effects of pairwise connectivity motifs on the linear dynamics in EI networks using an analytical framework that approximates the connectivity in terms of low-rank structures. This low-rank approximation is based on a mathematical derivation of the dominant eigenvalues of the connectivity matrix and predicts the impact on responses to external inputs of connectivity motifs and their interactions with cell-type structure. Our results reveal that a particular pattern of connectivity, chain motifs, have a much stronger impact on dominant eigenmodes than other pairwise motifs. An overrepresentation of chain motifs induces a strong positive eigenvalue in inhibition-dominated networks and generates a potential instability that requires revisiting the classical excitation-inhibition balance criteria. Examining effects of external inputs, we show that chain motifs can on their own induce paradoxical responses where an increased input to inhibitory neurons leads to a decrease in their activity due to the recurrent feedback. These findings have direct implications for the interpretation of experiments in which responses to optogenetic perturbations are measured and used to infer the dynamical regime of cortical circuits.

Structure of activity in multiregion recurrent neural networks

Neural circuits comprise multiple interconnected regions, each with complex dynamics. The interplay between local and global activity is thought to underlie computational flexibility, yet the structure of multiregion neural activity and its origins in synaptic connectivity remain poorly understood. We investigate recurrent neural networks with multiple regions, each containing neurons with random and structured connections. Inspired by experimental evidence of communication subspaces, we use low-rank connectivity between regions to enable selective activity routing. These networks exhibit high-dimensional fluctuations within regions and low-dimensional signal transmission between them. Using dynamical mean-field theory, with cross-region currents as order parameters, we show that regions act as both generators and transmitters of activity-roles that are often in tension. Taming within-region activity can be crucial for effective signal routing. Unlike previous models that suppressed neural activity to control signal flow, our model achieves routing by exciting different high-dimensional activity patterns through connectivity structure and nonlinear dynamics. Our analysis of this disordered system offers insights into multiregion neural data and trained neural networks.

Dynamical constraints on neural population activity

The manner in which neural activity unfolds over time is thought to be central to sensory, motor and cognitive functions in the brain. Network models have long posited that the brain's computations involve time courses of activity that are shaped by the underlying network. A prediction from this view is that the activity time courses should be difficult to violate. We leveraged a brain-computer interface to challenge monkeys to violate the naturally occurring time courses of neural population activity that we observed in the motor cortex. This included challenging animals to traverse the natural time course of neural activity in a time-reversed manner. Animals were unable to violate the natural time courses of neural activity when directly challenged to do so. These results provide empirical support for the view that activity time courses observed in the brain indeed reflect the underlying network-level computational mechanisms that they are believed to implement.

A theory of brain-computer interface learning via low-dimensional control

A remarkable demonstration of the flexibility of mammalian motor systems is primates' ability to learn to control brain-computer interfaces (BCIs). This constitutes a completely novel motor behavior, yet primates are capable of learning to control BCIs under a wide range of conditions. BCIs with carefully calibrated decoders, for example, can be learned with only minutes to hours of practice. With a few weeks of practice, even BCIs with randomly constructed decoders can be learned. What are the biological substrates of this learning process? Here, we develop a theory based on a re-aiming strategy, whereby learning operates within a low-dimensional subspace of task-relevant inputs driving the local population of recorded neurons. Through comprehensive numerical and formal analysis, we demonstrate that this theory can provide a unifying explanation for disparate phenomena previously reported in three different BCI learning tasks, and we derive a novel experimental prediction that we verify with previously published data. By explicitly modeling the underlying neural circuitry, the theory reveals an interpretation of these phenomena in terms of biological constraints on neural activity.

Cerebellar-driven cortical dynamics can enable task acquisition, switching and consolidation

The brain must maintain a stable world model while rapidly adapting to the environment, but the underlying mechanisms are not known. Here, we posit that cortico-cerebellar loops play a key role in this process. We introduce a computational model of cerebellar networks that learn to drive cortical networks with task-outcome predictions. First, using sensorimotor tasks, we show that cerebellar feedback in the presence of stable cortical networks is sufficient for rapid task acquisition and switching. Next, we demonstrate that, when trained in working memory tasks, the cerebellum can also underlie the maintenance of cognitive-specific dynamics in the cortex, explaining a range of optogenetic and behavioural observations. Finally, using our model, we introduce a systems consolidation theory in which task information is gradually transferred from the cerebellum to the cortex. In summary, our findings suggest that cortico-cerebellar loops are an important component of task acquisition, switching, and consolidation in the brain.

Exploring the nexus of cGAS STING pathway in neurodegenerative terrain: A therapeutic odyssey

By detecting and responding to cytosolic DNA, the cGAS STING pathway regulates the innate immune responses bymediatinginflammatory reactions and antiviral defense. Thederegulation and modification of this system have been linked to variousneurodegenerative diseases like AD, PD and ALS. Accumulation of tau protein and Aβ aggregates to activate the pathway and releases neuroinflammatory cytokines which accelerates neuronal dysfunction and cognitive impairment as the symptom of AD. Similarly, in PD Alpha-synuclein aggregates activate the cGAS STING pathway and regulate the neuroinflammation and oxidative stress. In ALS, mutation of the genes causes the activation of the pathway which leads to motor neuron degeneration. Alteration of the cGAS STING pathway also leads to mitochondrial dysfunction and impaired autophagy. Preclinical investigations of AD, PD, and ALS animal models showed that STING pathway inhibitors reduced inflammation and improved neurological outcomes and modulators of the cGAS STING pathway may treat these neurodegenerative disorders. In this review we focus on the fact thatneuroinflammation, neuronal dysfunction, and various disease progressions can be treated byaltering the cGAS STING pathway. Understanding the processes and creating specific interventions for this route may offer new treatments for these terrible illnesses.

Aligned and oblique dynamics in recurrent neural networks

The relation between neural activity and behaviorally relevant variables is at the heart of neuroscience research. When strong, this relation is termed a neural representation. There is increasing evidence, however, for partial dissociations between activity in an area and relevant external variables. While many explanations have been proposed, a theoretical framework for the relationship between external and internal variables is lacking. Here, we utilize recurrent neural networks (RNNs) to explore the question of when and how neural dynamics and the network's output are related from a geometrical point of view. We find that training RNNs can lead to two dynamical regimes: dynamics can either be aligned with the directions that generate output variables, or oblique to them. We show that the choice of readout weight magnitude before training can serve as a control knob between the regimes, similar to recent findings in feedforward networks. These regimes are functionally distinct. Oblique networks are more heterogeneous and suppress noise in their output directions. They are furthermore more robust to perturbations along the output directions. Crucially, the oblique regime is specific to recurrent (but not feedforward) networks, arising from dynamical stability considerations. Finally, we show that tendencies toward the aligned or the oblique regime can be dissociated in neural recordings. Altogether, our results open a new perspective for interpreting neural activity by relating network dynamics and their output.

Emerging perspectives for the study of the neural basis of motor behaviour

The 33rd Annual Meeting of the Society for the Neural Control of Movement (NCM) brought together over 500 experts to discuss recent advancements in motor control. This article highlights key topics from the conference, including the foundational mechanisms of motor control, the ongoing debate over the context-dependency of feedforward and feedback processes, and the interplay between motor and cognitive functions in learning, memory, and decision-making. It also presents innovative methods for studying movement in complex, real-world environments.

ATTRACTOR-BASED MODELS FOR SEQUENCES AND PATTERN GENERATION IN NEURAL CIRCUITS

Neural circuits in the brain perform a variety of essential functions, including input classification, pattern completion, and the generation of rhythms and oscillations that support processes such as breathing and locomotion [51]. There is also substantial evidence that the brain encodes memories and processes information via sequences of neural activity. In this dissertation, we are focused on the general problem of how neural circuits encode rhythmic activity, as in central pattern generators (CPGs), as well as the encoding of sequences. Traditionally, rhythmic activity and CPGs have been modeled using coupled oscillators. Here we take a different approach, and present models for several different neural functions using threshold-linear networks. Our approach aims to unify attractor-based models (e.g., Hopfield networks) which encode static and dynamic patterns as attractors of the network. In the first half of this dissertation, we present several attractor-based models. These include: a network that can count the number of external inputs it receives; two models for locomotion, one encoding five different quadruped gaits and another encoding the orientation system of a swimming mollusk; and, finally, a model that connects the fixed point sequences with locomotion attractors to obtain a network that steps through a sequence of dynamic attractors. In the second half of the thesis, we present new theoretical results, some of which have already been published in [59]. There, we established conditions on network architectures to produce sequential attractors. Here we also include several new theorems relating the fixed points of composite networks to those of their component subnetworks, as well as a new architecture for layering networks which produces "fusion" attractors by minimizing interference between the attractors of individual layers.

Task-dependent coarticulation of movement sequences

Combining individual actions into sequences is a hallmark of everyday activities. Classical theories propose that the motor system forms a single specification of the sequence as a whole, leading to the coarticulation of the different elements. In contrast, recent neural recordings challenge this idea and suggest independent execution of each element specified separately. Here, we show that separate or coarticulated sequences can result from the same task-dependent controller, without implying different representations in the brain. Simulations show that planning for multiple reaches simultaneously allows separate or coarticulated sequences depending on instructions about intermediate goals. Human experiments in a two-reach sequence task validated this model. Furthermore, in co-articulated sequences, the second goal influenced long-latency stretch responses to external loads applied during the first reach, demonstrating the involvement of the sensorimotor network supporting fast feedback control. Overall, our study establishes a computational framework for sequence production that highlights the importance of feedback control in this essential motor skill.

When and why does motor preparation arise in recurrent neural network models of motor control?

During delayed ballistic reaches, motor areas consistently display movement-specific activity patterns prior to movement onset. It is unclear why these patterns arise: while they have been proposed to seed an initial neural state from which the movement unfolds, recent experiments have uncovered the presence and necessity of ongoing inputs during movement, which may lessen the need for careful initialization. Here, we modeled the motor cortex as an input-driven dynamical system, and we asked what the optimal way to control this system to perform fast delayed reaches is. We find that delay-period inputs consistently arise in an optimally controlled model of M1. By studying a variety of network architectures, we could dissect and predict the situations in which it is beneficial for a network to prepare. Finally, we show that optimal input-driven control of neural dynamics gives rise to multiple phases of preparation during reach sequences, providing a novel explanation for experimentally observed features of monkey M1 activity in double reaching.

Reach-dependent reorientation of rotational dynamics in motor cortex

During reaching, neurons in motor cortex exhibit complex, time-varying activity patterns. Though single-neuron activity correlates with movement parameters, movement correlations explain neural activity only partially. Neural responses also reflect population-level dynamics thought to generate outputs. These dynamics have previously been described as "rotational," such that activity orbits in neural state space. Here, we reanalyze reaching datasets from male Rhesus macaques and find two essential features that cannot be accounted for with standard dynamics models. First, the planes in which rotations occur differ for different reaches. Second, this variation in planes reflects the overall location of activity in neural state space. Our "location-dependent rotations" model fits nearly all motor cortex activity during reaching, and high-quality decoding of reach kinematics reveals a quasilinear relationship with spiking. Varying rotational planes allows motor cortex to produce richer outputs than possible under previous models. Finally, our model links representational and dynamical ideas: representation is present in the state space location, which dynamics then convert into time-varying command signals.

A neural basis for learning sequential memory in brain loop structures

Introduction

Behaviors often involve a sequence of events, and learning and reproducing it is essential for sequential memory. Brain loop structures refer to loop-shaped inter-regional connection structures in the brain such as cortico-basal ganglia-thalamic and cortico-cerebellar loops. They are thought to play a crucial role in supporting sequential memory, but it is unclear what properties of the loop structure are important and why.

Methods

In this study, we investigated conditions necessary for the learning of sequential memory in brain loop structures via computational modeling. We assumed that sequential memory emerges due to delayed information transmission in loop structures and presented a basic neural activity model and validated our theoretical considerations with spiking neural network simulations.

Results

Based on this model, we described the factors for the learning of sequential memory: first, the information transmission delay should decrease as the size of the loop structure increases; and second, the likelihood of the learning of sequential memory increases as the size of the loop structure increases and soon saturates. Combining these factors, we showed that moderate-sized brain loop structures are advantageous for the learning of sequential memory due to the physiological restrictions of information transmission delay.

Discussion

Our results will help us better understand the relationship between sequential memory and brain loop structures.

Thalamocortical architectures for flexible cognition and efficient learning

The brain exhibits a remarkable ability to learn and execute context-appropriate behaviors. How it achieves such flexibility, without sacrificing learning efficiency, is an important open question. Neuroscience, psychology, and engineering suggest that reusing and repurposing computations are part of the answer. Here, we review evidence that thalamocortical architectures may have evolved to facilitate these objectives of flexibility and efficiency by coordinating distributed computations. Recent work suggests that distributed prefrontal cortical networks compute with flexible codes, and that the mediodorsal thalamus provides regularization to promote efficient reuse. Thalamocortical interactions resemble hierarchical Bayesian computations, and their network implementation can be related to existing gating, synchronization, and hub theories of thalamic function. By reviewing recent findings and providing a novel synthesis, we highlight key research horizons integrating computation, cognition, and systems neuroscience.

Cross-Frequency Coupling as a Biomarker for Early Stroke Recovery

BACKGROUND

The application of neuroimaging-based biomarkers in stroke has enriched our understanding of post-stroke recovery mechanisms, including alterations in functional connectivity based on synchronous oscillatory activity across various cortical regions. Phase-amplitude coupling, a type of cross-frequency coupling, may provide additional mechanistic insight.

OBJECTIVE

To determine how the phase of prefrontal cortex delta (1-3 Hz) oscillatory activity mediates the amplitude of motor cortex beta (13-20 Hz) oscillations in individual's early post-stroke.

METHODS

Participants admitted to an inpatient rehabilitation facility completed resting and task-based EEG recordings and motor assessments around the time of admission and discharge along with structural neuroimaging. Unimpaired controls completed EEG procedures during a single visit. Mixed-effects linear models were performed to assess within- and between-group differences in delta-beta prefrontomotor coupling. Associations between coupling and motor status and injury were also determined.

RESULTS

Thirty individuals with stroke and 17 unimpaired controls participated. Coupling was greater during task versus rest conditions for all participants. Though coupling during affected extremity task performance decreased during hospitalization, coupling remained elevated at discharge compared to controls. Greater baseline coupling was associated with better motor status at admission and discharge and positively related to motor recovery. Coupling demonstrated both positive and negative associations with injury involving measures of lesion volume and overlap injury to anterior thalamic radiation, respectively.

CONCLUSIONS

This work highlights the utility of prefrontomotor cross-frequency coupling as a potential motor status and recovery biomarker in stroke. The frequency- and region-specific neurocircuitry featured in this work may also facilitate novel treatment strategies in stroke.

De novo motor learning creates structure in neural activity that shapes adaptation

Animals can quickly adapt learned movements to external perturbations, and their existing motor repertoire likely influences their ease of adaptation. Long-term learning causes lasting changes in neural connectivity, which shapes the activity patterns that can be produced during adaptation. Here, we examined how a neural population's existing activity patterns, acquired through de novo learning, affect subsequent adaptation by modeling motor cortical neural population dynamics with recurrent neural networks. We trained networks on different motor repertoires comprising varying numbers of movements, which they acquired following various learning experiences. Networks with multiple movements had more constrained and robust dynamics, which were associated with more defined neural 'structure'-organization in the available population activity patterns. This structure facilitated adaptation, but only when the changes imposed by the perturbation were congruent with the organization of the inputs and the structure in neural activity acquired during de novo learning. These results highlight trade-offs in skill acquisition and demonstrate how different learning experiences can shape the geometrical properties of neural population activity and subsequent adaptation.

Unified control of temporal and spatial scales of sensorimotor behavior through neuromodulation of short-term synaptic plasticity

Neuromodulators have been shown to alter the temporal profile of short-term synaptic plasticity (STP); however, the computational function of this neuromodulation remains unexplored. Here, we propose that the neuromodulation of STP provides a general mechanism to scale neural dynamics and motor outputs in time and space. We trained recurrent neural networks that incorporated STP to produce complex motor trajectories-handwritten digits-with different temporal (speed) and spatial (size) scales. Neuromodulation of STP produced temporal and spatial scaling of the learned dynamics and enhanced temporal or spatial generalization compared to standard training of the synaptic weights in the absence of STP. The model also accounted for the results of two experimental studies involving flexible sensorimotor timing. Neuromodulation of STP provides a unified and biologically plausible mechanism to control the temporal and spatial scales of neural dynamics and sensorimotor behaviors.

Specific connectivity optimizes learning in thalamocortical loops

Thalamocortical loops have a central role in cognition and motor control, but precisely how they contribute to these processes is unclear. Recent studies showing evidence of plasticity in thalamocortical synapses indicate a role for the thalamus in shaping cortical dynamics through learning. Since signals undergo a compression from the cortex to the thalamus, we hypothesized that the computational role of the thalamus depends critically on the structure of corticothalamic connectivity. To test this, we identified the optimal corticothalamic structure that promotes biologically plausible learning in thalamocortical synapses. We found that corticothalamic projections specialized to communicate an efference copy of the cortical output benefit motor control, while communicating the modes of highest variance is optimal for working memory tasks. We analyzed neural recordings from mice performing grasping and delayed discrimination tasks and found corticothalamic communication consistent with these predictions. These results suggest that the thalamus orchestrates cortical dynamics in a functionally precise manner through structured connectivity.

Brain mechanism of foraging: Reward-dependent synaptic plasticity versus neural integration of values

During foraging behavior, action values are persistently encoded in neural activity and updated depending on the history of choice outcomes. What is the neural mechanism for action value maintenance and updating? Here, we explore two contrasting network models: synaptic learning of action value versus neural integration. We show that both models can reproduce extant experimental data, but they yield distinct predictions about the underlying biological neural circuits. In particular, the neural integrator model but not the synaptic model requires that reward signals are mediated by neural pools selective for action alternatives and their projections are aligned with linear attractor axes in the valuation system. We demonstrate experimentally observable neural dynamical signatures and feasible perturbations to differentiate the two contrasting scenarios, suggesting that the synaptic model is a more robust candidate mechanism. Overall, this work provides a modeling framework to guide future experimental research on probabilistic foraging.

Circuits in the motor cortex explain oscillatory responses to transcranial magnetic stimulation

Transcranial magnetic stimulation (TMS) is a popular method used to investigate brain function. Stimulation over the motor cortex evokes muscle contractions known as motor evoked potentials (MEPs) and also high-frequency volleys of electrical activity measured in the cervical spinal cord. The physiological mechanisms of these experimentally derived responses remain unclear, but it is thought that the connections between circuits of excitatory and inhibitory neurons play a vital role. Using a spiking neural network model of the motor cortex, we explained the generation of waves of activity, so called 'I-waves', following cortical stimulation. The model reproduces a number of experimentally known responses including direction of TMS, increased inhibition, and changes in strength. Using populations of thousands of neurons in a model of cortical circuitry we showed that the cortex generated transient oscillatory responses without any tuning, and that neuron parameters such as refractory period and delays influenced the pattern and timing of those oscillations. By comparing our network with simpler, previously proposed circuits, we explored the contributions of specific connections and found that recurrent inhibitory connections are vital in producing later waves that significantly impact the production of motor evoked potentials in downstream muscles (Thickbroom, 2011). This model builds on previous work to increase our understanding of how complex circuitry of the cortex is involved in the generation of I-waves.

Preparatory activity and the expansive null-space

The study of the cortical control of movement experienced a conceptual shift over recent decades, as the basic currency of understanding shifted from single-neuron tuning towards population-level factors and their dynamics. This transition was informed by a maturing understanding of recurrent networks, where mechanism is often characterized in terms of population-level factors. By estimating factors from data, experimenters could test network-inspired hypotheses. Central to such hypotheses are 'output-null' factors that do not directly drive motor outputs yet are essential to the overall computation. In this Review, we highlight how the hypothesis of output-null factors was motivated by the venerable observation that motor-cortex neurons are active during movement preparation, well before movement begins. We discuss how output-null factors then became similarly central to understanding neural activity during movement. We discuss how this conceptual framework provided key analysis tools, making it possible for experimenters to address long-standing questions regarding motor control. We highlight an intriguing trend: as experimental and theoretical discoveries accumulate, the range of computational roles hypothesized to be subserved by output-null factors continues to expand.

The mediodorsal thalamus in executive control

Executive control, the ability to organize thoughts and action plans in real time, is a defining feature of higher cognition. Classical theories have emphasized cortical contributions to this process, but recent studies have reinvigorated interest in the role of the thalamus. Although it is well established that local thalamic damage diminishes cognitive capacity, such observations have been difficult to inform functional models. Recent progress in experimental techniques is beginning to enrich our understanding of the anatomical, physiological, and computational substrates underlying thalamic engagement in executive control. In this review, we discuss this progress and particularly focus on the mediodorsal thalamus, which regulates the activity within and across frontal cortical areas. We end with a synthesis that highlights frontal thalamocortical interactions in cognitive computations and discusses its functional implications in normal and pathological conditions.

Dynamical constraints on neural population activity

The manner in which neural activity unfolds over time is thought to be central to sensory, motor, and cognitive functions in the brain. Network models have long posited that the brain's computations involve time courses of activity that are shaped by the underlying network. A prediction from this view is that the activity time courses should be difficult to violate. We leveraged a brain-computer interface (BCI) to challenge monkeys to violate the naturally-occurring time courses of neural population activity that we observed in motor cortex. This included challenging animals to traverse the natural time course of neural activity in a time-reversed manner. Animals were unable to violate the natural time courses of neural activity when directly challenged to do so. These results provide empirical support for the view that activity time courses observed in the brain indeed reflect the underlying network-level computational mechanisms that they are believed to implement.

Uncoordinated sleep replay across hemispheres in the zebra finch

Bilaterally organized brain regions are often simultaneously active in both humans1,2,3 and animal models,4,5,6,7,8,9 but the extent to which the temporal progression of internally generated dynamics is coordinated across hemispheres and how this coordination changes with brain state remain poorly understood. To address these issues, we investigated the zebra finch courtship song (duration: 0.5-1.0 s), a highly stereotyped complex behavior10,11 produced by a set of bilaterally organized nuclei.12,13,14 Unilateral lesions to these structures can eliminate or degrade singing,13,15,16,17 indicating that both hemispheres are required for song production.18 Additionally, previous work demonstrated broadly coherent and symmetric bilateral premotor signals during song.9 To precisely track the temporal evolution of activity in each hemisphere, we recorded bilaterally in the song production pathway. We targeted the robust nucleus of the arcopallium (RA) in the zebra finch, where population activity reflects the moment-to-moment progression of the courtship song during awake vocalizations19,20,21,22,23,24 and sleep, where song-related network dynamics reemerge in "replay" events.24,25 We found that activity in the left and right RA is synchronized within a fraction of a millisecond throughout song. In stark contrast, the two hemispheres displayed largely independent replay activity during sleep, despite shared interhemispheric arousal levels. These findings demonstrate that the degree of bilateral coordination in the zebra finch song system is dynamically modulated by behavioral state.

Competing neural representations of choice shape evidence accumulation in humans

Making adaptive choices in dynamic environments requires flexible decision policies. Previously, we showed how shifts in outcome contingency change the evidence accumulation process that determines decision policies. Using in silico experiments to generate predictions, here we show how the cortico-basal ganglia-thalamic (CBGT) circuits can feasibly implement shifts in decision policies. When action contingencies change, dopaminergic plasticity redirects the balance of power, both within and between action representations, to divert the flow of evidence from one option to another. When competition between action representations is highest, the rate of evidence accumulation is the lowest. This prediction was validated in in vivo experiments on human participants, using fMRI, which showed that (1) evoked hemodynamic responses can reliably predict trial-wise choices and (2) competition between action representations, measured using a classifier model, tracked with changes in the rate of evidence accumulation. These results paint a holistic picture of how CBGT circuits manage and adapt the evidence accumulation process in mammals.

Physics-based character animation and human motor control

Motor neuroscience and physics-based character animation (PBCA) approach human and humanoid control from different perspectives. The primary goal of PBCA is to control the movement of a ragdoll (humanoid or animal) applying forces and torques within a physical simulation. The primary goal of motor neuroscience is to understand the contribution of different parts of the nervous system to generate coordinated movements. We review the functional principles and the functional anatomy of human motor control and the main strategies used in PBCA. We then explore common research points by discussing the functional anatomy and ongoing debates in motor neuroscience from the perspective of PBCA. We also suggest there are several benefits to be found in studying sensorimotor integration and human-character coordination through closer collaboration between these two fields.

Geometry of population activity in spiking networks with low-rank structure

Recurrent network models are instrumental in investigating how behaviorally-relevant computations emerge from collective neural dynamics. A recently developed class of models based on low-rank connectivity provides an analytically tractable framework for understanding of how connectivity structure determines the geometry of low-dimensional dynamics and the ensuing computations. Such models however lack some fundamental biological constraints, and in particular represent individual neurons in terms of abstract units that communicate through continuous firing rates rather than discrete action potentials. Here we examine how far the theoretical insights obtained from low-rank rate networks transfer to more biologically plausible networks of spiking neurons. Adding a low-rank structure on top of random excitatory-inhibitory connectivity, we systematically compare the geometry of activity in networks of integrate-and-fire neurons to rate networks with statistically equivalent low-rank connectivity. We show that the mean-field predictions of rate networks allow us to identify low-dimensional dynamics at constant population-average activity in spiking networks, as well as novel non-linear regimes of activity such as out-of-phase oscillations and slow manifolds. We finally exploit these results to directly build spiking networks that perform nonlinear computations.

Modeling the role of the thalamus in resting-state functional connectivity: Nature or structure

The thalamus is a central brain structure that serves as a relay station for sensory inputs from the periphery to the cortex and regulates cortical arousal. Traditionally, it has been regarded as a passive relay that transmits information between brain regions. However, recent studies have suggested that the thalamus may also play a role in shaping functional connectivity (FC) in a task-based context. Based on this idea, we hypothesized that due to its centrality in the network and its involvement in cortical activation, the thalamus may also contribute to resting-state FC, a key neurological biomarker widely used to characterize brain function in health and disease. To investigate this hypothesis, we constructed ten in-silico brain network models based on neuroimaging data (MEG, MRI, and dwMRI), and simulated them including and excluding the thalamus, and raising the noise into thalamus to represent the afferences related to the reticular activating system (RAS) and the relay of peripheral sensory inputs. We simulated brain activity and compared the resulting FC to their empirical MEG counterparts to evaluate model's performance. Results showed that a parceled version of the thalamus with higher noise, able to drive damped cortical oscillators, enhanced the match to empirical FC. However, with an already active self-oscillatory cortex, no impact on the dynamics was observed when introducing the thalamus. We also demonstrated that the enhanced performance was not related to the structural connectivity of the thalamus, but to its higher noisy inputs. Additionally, we highlighted the relevance of a balanced signal-to-noise ratio in thalamus to allow it to propagate its own dynamics. In conclusion, our study sheds light on the role of the thalamus in shaping brain dynamics and FC in resting-state and allowed us to discuss the general role of criticality in the brain at the mesoscale level.

Invariant neural dynamics drive commands to control different movements

It has been proposed that the nervous system has the capacity to generate a wide variety of movements because it reuses some invariant code. Previous work has identified that dynamics of neural population activity are similar during different movements, where dynamics refer to how the instantaneous spatial pattern of population activity changes in time. Here, we test whether invariant dynamics of neural populations are actually used to issue the commands that direct movement. Using a brain-machine interface (BMI) that transforms rhesus macaques' motor-cortex activity into commands for a neuroprosthetic cursor, we discovered that the same command is issued with different neural-activity patterns in different movements. However, these different patterns were predictable, as we found that the transitions between activity patterns are governed by the same dynamics across movements. These invariant dynamics are low dimensional, and critically, they align with the BMI, so that they predict the specific component of neural activity that actually issues the next command. We introduce a model of optimal feedback control (OFC) that shows that invariant dynamics can help transform movement feedback into commands, reducing the input that the neural population needs to control movement. Altogether our results demonstrate that invariant dynamics drive commands to control a variety of movements and show how feedback can be integrated with invariant dynamics to issue generalizable commands.

The Computational and Neural Bases of Context-Dependent Learning

Flexible behavior requires the creation, updating, and expression of memories to depend on context. While the neural underpinnings of each of these processes have been intensively studied, recent advances in computational modeling revealed a key challenge in context-dependent learning that had been largely ignored previously: Under naturalistic conditions, context is typically uncertain, necessitating contextual inference. We review a theoretical approach to formalizing context-dependent learning in the face of contextual uncertainty and the core computations it requires. We show how this approach begins to organize a large body of disparate experimental observations, from multiple levels of brain organization (including circuits, systems, and behavior) and multiple brain regions (most prominently the prefrontal cortex, the hippocampus, and motor cortices), into a coherent framework. We argue that contextual inference may also be key to understanding continual learning in the brain. This theory-driven perspective places contextual inference as a core component of learning.

Amplified cortical neural responses as animals learn to use novel activity patterns

Cerebral cortex supports representations of the world in patterns of neural activity, used by the brain to make decisions and guide behavior. Past work has found diverse, or limited, changes in the primary sensory cortex in response to learning, suggesting that the key computations might occur in downstream regions. Alternatively, sensory cortical changes may be central to learning. We studied cortical learning by using controlled inputs we insert: we trained mice to recognize entirely novel, non-sensory patterns of cortical activity in the primary visual cortex (V1) created by optogenetic stimulation. As animals learned to use these novel patterns, we found that their detection abilities improved by an order of magnitude or more. The behavioral change was accompanied by large increases in V1 neural responses to fixed optogenetic input. Neural response amplification to novel optogenetic inputs had little effect on existing visual sensory responses. A recurrent cortical model shows that this amplification can be achieved by a small mean shift in recurrent network synaptic strength. Amplification would seem to be desirable to improve decision-making in a detection task; therefore, these results suggest that adult recurrent cortical plasticity plays a significant role in improving behavioral performance during learning.

Interplay between external inputs and recurrent dynamics during movement preparation and execution in a network model of motor cortex

The primary motor cortex has been shown to coordinate movement preparation and execution through computations in approximately orthogonal subspaces. The underlying network mechanisms, and the roles played by external and recurrent connectivity, are central open questions that need to be answered to understand the neural substrates of motor control. We develop a recurrent neural network model that recapitulates the temporal evolution of neuronal activity recorded from the primary motor cortex of a macaque monkey during an instructed delayed-reach task. In particular, it reproduces the observed dynamic patterns of covariation between neural activity and the direction of motion. We explore the hypothesis that the observed dynamics emerges from a synaptic connectivity structure that depends on the preferred directions of neurons in both preparatory and movement-related epochs, and we constrain the strength of both synaptic connectivity and external input parameters from data. While the model can reproduce neural activity for multiple combinations of the feedforward and recurrent connections, the solution that requires minimum external inputs is one where the observed patterns of covariance are shaped by external inputs during movement preparation, while they are dominated by strong direction-specific recurrent connectivity during movement execution. Our model also demonstrates that the way in which single-neuron tuning properties change over time can explain the level of orthogonality of preparatory and movement-related subspaces.

Linking cortex and contraction-Integrating models along the corticomuscular pathway

Computational models of the neuromusculoskeletal system provide a deterministic approach to investigate input-output relationships in the human motor system. Neuromusculoskeletal models are typically used to estimate muscle activations and forces that are consistent with observed motion under healthy and pathological conditions. However, many movement pathologies originate in the brain, including stroke, cerebral palsy, and Parkinson's disease, while most neuromusculoskeletal models deal exclusively with the peripheral nervous system and do not incorporate models of the motor cortex, cerebellum, or spinal cord. An integrated understanding of motor control is necessary to reveal underlying neural-input and motor-output relationships. To facilitate the development of integrated corticomuscular motor pathway models, we provide an overview of the neuromusculoskeletal modelling landscape with a focus on integrating computational models of the motor cortex, spinal cord circuitry, α-motoneurons  and skeletal muscle in regard to their role in generating voluntary muscle contraction. Further, we highlight the challenges and opportunities associated with an integrated corticomuscular pathway model, such as challenges in defining neuron connectivities, modelling standardisation, and opportunities in applying models to study emergent behaviour. Integrated corticomuscular pathway models have applications in brain-machine-interaction, education, and our understanding of neurological disease.

Thalamus drives vocal onsets in the zebra finch courtship song

While motor cortical circuits contain information related to specific movement parameters1, long-range inputs also have a critical role in action execution2,3. Thalamic projections can shape premotor activity2-6 and have been suggested7 to mediate the selection of short, stereotyped actions comprising more complex behaviours8. However, the mechanisms by which thalamus interacts with motor cortical circuits to execute such movement sequences remain unknown. Here we find that thalamic drive engages a specific subpopulation of premotor neurons within the zebra finch song nucleus HVC (proper name) and that these inputs are critical for the progression between vocal motor elements (that is, 'syllables'). In vivo two-photon imaging of thalamic axons in HVC showed robust song-related activity, and online perturbations of thalamic function caused song to be truncated at syllable boundaries. We used thalamic stimulation to identify a sparse set of thalamically driven neurons within HVC, representing ~15% of the premotor neurons within that network. Unexpectedly, this population of putative thalamorecipient neurons is robustly active immediately preceding syllable onset, leading to the possibility that thalamic input can initiate individual song components through selectively targeting these 'starter cells'. Our findings highlight the motor thalamus as a director of cortical dynamics in the context of an ethologically relevant behavioural sequence.

The centrality of population-level factors to network computation is demonstrated by a versatile approach for training spiking networks

Neural activity is often described in terms of population-level factors extracted from the responses of many neurons. Factors provide a lower-dimensional description with the aim of shedding light on network computations. Yet, mechanistically, computations are performed not by continuously valued factors but by interactions among neurons that spike discretely and variably. Models provide a means of bridging these levels of description. We developed a general method for training model networks of spiking neurons by leveraging factors extracted from either data or firing-rate-based networks. In addition to providing a useful model-building framework, this formalism illustrates how reliable and continuously valued factors can arise from seemingly stochastic spiking. Our framework establishes procedures for embedding this property in network models with different levels of realism. The relationship between spikes and factors in such networks provides a foundation for interpreting (and subtly redefining) commonly used quantities such as firing rates.

Parametric control of flexible timing through low-dimensional neural manifolds

Biological brains possess an unparalleled ability to adapt behavioral responses to changing stimuli and environments. How neural processes enable this capacity is a fundamental open question. Previous works have identified two candidate mechanisms: a low-dimensional organization of neural activity and a modulation by contextual inputs. We hypothesized that combining the two might facilitate generalization and adaptation in complex tasks. We tested this hypothesis in flexible timing tasks where dynamics play a key role. Examining trained recurrent neural networks, we found that confining the dynamics to a low-dimensional subspace allowed tonic inputs to parametrically control the overall input-output transform, enabling generalization to novel inputs and adaptation to changing conditions. Reverse-engineering and theoretical analyses demonstrated that this parametric control relies on a mechanism where tonic inputs modulate the dynamics along non-linear manifolds while preserving their geometry. Comparisons with data from behaving monkeys confirmed the behavioral and neural signatures of this mechanism.

Parallel movement planning is achieved via an optimal preparatory state in motor cortex

How do patterns of neural activity in the motor cortex contribute to the planning of a movement? A recent theory developed for single movements proposes that the motor cortex acts as a dynamical system whose initial state is optimized during the preparatory phase of the movement. This theory makes important yet untested predictions about preparatory dynamics in more complex behavioral settings. Here, we analyze preparatory activity in non-human primates planning not one but two movements simultaneously. As predicted by the theory, we find that parallel planning is achieved by adjusting preparatory activity within an optimal subspace to an intermediate state reflecting a trade-off between the two movements. The theory quantitatively accounts for the relationship between this intermediate state and fluctuations in the animals' behavior down at the trial level. These results uncover a simple mechanism for planning multiple movements in parallel and further point to motor planning as a controlled dynamical process.

Toward a cerebello-thalamo-cortical computational model of spinocerebellar ataxia

Computational neural network modelling is an emerging approach for optimization of drug treatment of neurological disorders and fine-tuning of rehabilitation strategies. In the current study, we constructed a cerebello-thalamo-cortical computational neural network model to simulate a mouse model of cerebellar ataxia (pcd^5J mice) by manipulating cerebellar bursts through reduction of GABAergic inhibitory input. Cerebellar output neurons were projected to the thalamus and bidirectionally connected with the cortical network. Our results showed that reduction of inhibitory input in the cerebellum orchestrated the cortical local field potential (LFP) dynamics to generate specific motor outputs of oscillations of the theta, alpha, and beta bands in the computational model as well as in mouse motor cortical neurons. The therapeutic potential of deep brain stimulation (DBS) was tested in the computational model by increasing the sensory input to restore cortical output. Ataxia mice showed normalization of the motor cortex LFP after cerebellum DBS. We provide a novel approach to computational modelling to investigate the effect of DBS by mimicking cerebellar ataxia involving degeneration of Purkinje cells. Simulated neural activity coincides with findings from neural recordings of ataxia mice. Our computational model could thus represent cerebellar pathologies and provide insight into how to improve disease symptoms by restoring neuronal electrophysiological properties using DBS.

Bayesian reconstruction of memories stored in neural networks from their connectivity

The advent of comprehensive synaptic wiring diagrams of large neural circuits has created the field of connectomics and given rise to a number of open research questions. One such question is whether it is possible to reconstruct the information stored in a recurrent network of neurons, given its synaptic connectivity matrix. Here, we address this question by determining when solving such an inference problem is theoretically possible in specific attractor network models and by providing a practical algorithm to do so. The algorithm builds on ideas from statistical physics to perform approximate Bayesian inference and is amenable to exact analysis. We study its performance on three different models, compare the algorithm to standard algorithms such as PCA, and explore the limitations of reconstructing stored patterns from synaptic connectivity.

Relating local connectivity and global dynamics in recurrent excitatory-inhibitory networks

How the connectivity of cortical networks determines the neural dynamics and the resulting computations is one of the key questions in neuroscience. Previous works have pursued two complementary approaches to quantify the structure in connectivity. One approach starts from the perspective of biological experiments where only the local statistics of connectivity motifs between small groups of neurons are accessible. Another approach is based instead on the perspective of artificial neural networks where the global connectivity matrix is known, and in particular its low-rank structure can be used to determine the resulting low-dimensional dynamics. A direct relationship between these two approaches is however currently missing. Specifically, it remains to be clarified how local connectivity statistics and the global low-rank connectivity structure are inter-related and shape the low-dimensional activity. To bridge this gap, here we develop a method for mapping local connectivity statistics onto an approximate global low-rank structure. Our method rests on approximating the global connectivity matrix using dominant eigenvectors, which we compute using perturbation theory for random matrices. We demonstrate that multi-population networks defined from local connectivity statistics for which the central limit theorem holds can be approximated by low-rank connectivity with Gaussian-mixture statistics. We specifically apply this method to excitatory-inhibitory networks with reciprocal motifs, and show that it yields reliable predictions for both the low-dimensional dynamics, and statistics of population activity. Importantly, it analytically accounts for the activity heterogeneity of individual neurons in specific realizations of local connectivity. Altogether, our approach allows us to disentangle the effects of mean connectivity and reciprocal motifs on the global recurrent feedback, and provides an intuitive picture of how local connectivity shapes global network dynamics.

The thalamus in psychosis spectrum disorder

Psychosis spectrum disorder (PSD) affects 1% of the world population and results in a lifetime of chronic disability, causing devastating personal and economic consequences. Developing new treatments for PSD remains a challenge, particularly those that target its core cognitive deficits. A key barrier to progress is the tenuous link between the basic neurobiological understanding of PSD and its clinical phenomenology. In this perspective, we focus on a key opportunity that combines innovations in non-invasive human neuroimaging with basic insights into thalamic regulation of functional cortical connectivity. The thalamus is an evolutionary conserved region that forms forebrain-wide functional loops critical for the transmission of external inputs as well as the construction and update of internal models. We discuss our perspective across four lines of evidence: First, we articulate how PSD symptomatology may arise from a faulty network organization at the macroscopic circuit level with the thalamus playing a central coordinating role. Second, we discuss how recent animal work has mechanistically clarified the properties of thalamic circuits relevant to regulating cortical dynamics and cognitive function more generally. Third, we present human neuroimaging evidence in support of thalamic alterations in PSD, and propose that a similar "thalamocortical dysconnectivity" seen in pharmacological imaging (under ketamine, LSD and THC) in healthy individuals may link this circuit phenotype to the common set of symptoms in idiopathic and drug-induced psychosis. Lastly, we synthesize animal and human work, and lay out a translational path for biomarker and therapeutic development.

Movement is governed by rotational neural dynamics in spinal motor networks

Although the generation of movements is a fundamental function of the nervous system, the underlying neural principles remain unclear. As flexor and extensor muscle activities alternate during rhythmic movements such as walking, it is often assumed that the responsible neural circuitry is similarly exhibiting alternating activity¹. Here we present ensemble recordings of neurons in the lumbar spinal cord that indicate that, rather than alternating, the population is performing a low-dimensional 'rotation' in neural space, in which the neural activity is cycling through all phases continuously during the rhythmic behaviour. The radius of rotation correlates with the intended muscle force, and a perturbation of the low-dimensional trajectory can modify the motor behaviour. As existing models of spinal motor control do not offer an adequate explanation of rotation^1,2, we propose a theory of neural generation of movements from which this and other unresolved issues, such as speed regulation, force control and multifunctionalism, are readily explained.

Thalamus-driven functional populations in frontal cortex support decision-making

Neurons in frontal cortex exhibit diverse selectivity representing sensory, motor and cognitive variables during decision-making. The neural circuit basis for this complex selectivity remains unclear. We examined activity mediating a tactile decision in mouse anterior lateral motor cortex in relation to the underlying circuits. Contrary to the notion of randomly mixed selectivity, an analysis of 20,000 neurons revealed organized activity coding behavior. Individual neurons exhibited prototypical response profiles that were repeatable across mice. Stimulus, choice and action were coded nonrandomly by distinct neuronal populations that could be delineated by their response profiles. We related distinct selectivity to long-range inputs from somatosensory cortex, contralateral anterior lateral motor cortex and thalamus. Each input connects to all functional populations but with differing strength. Task selectivity was more strongly dependent on thalamic inputs than cortico-cortical inputs. Our results suggest that the thalamus drives subnetworks within frontal cortex coding distinct features of decision-making.

Small, correlated changes in synaptic connectivity may facilitate rapid motor learning

Animals rapidly adapt their movements to external perturbations, a process paralleled by changes in neural activity in the motor cortex. Experimental studies suggest that these changes originate from altered inputs (H_input) rather than from changes in local connectivity (H_local), as neural covariance is largely preserved during adaptation. Since measuring synaptic changes in vivo remains very challenging, we used a modular recurrent neural network to qualitatively test this interpretation. As expected, H_input resulted in small activity changes and largely preserved covariance. Surprisingly given the presumed dependence of stable covariance on preserved circuit connectivity, H_local led to only slightly larger changes in activity and covariance, still within the range of experimental recordings. This similarity is due to H_local only requiring small, correlated connectivity changes for successful adaptation. Simulations of tasks that impose increasingly larger behavioural changes revealed a growing difference between H_input and H_local, which could be exploited when designing future experiments.

Modulation of neural co-firing to enhance network transmission and improve motor function after stroke

Stroke is a leading cause of disability. While neurotechnology has shown promise for improving upper limb recovery after stroke, efficacy in clinical trials has been variable. Our central thesis is that to improve clinical translation, we need to develop a common neurophysiological framework for understanding how neurotechnology alters network activity. Our perspective discusses principles for how motor networks, both healthy and those recovering from stroke, subserve reach-to-grasp movements. We focus on neural processing at the resolution of single movements, the timescale at which neurotechnologies are applied, and discuss how this activity might drive long-term plasticity. We propose that future studies should focus on cross-area communication and bridging our understanding of timescales ranging from single trials within a session to across multiple sessions. We hope that this perspective establishes a combined path forward for preclinical and clinical research with the goal of more robust clinical translation of neurotechnology.