Stable task information from an unstable neural population

Metaplasticity and continual learning: mechanisms subserving brain computer interface proficiency

Objective.Brain computer interfaces (BCIs) require substantial cognitive flexibility to optimize control performance. Remarkably, learning this control is rapid, suggesting it might be mediated by neuroplasticity mechanisms operating on very short time scales. Here, we propose a meta plasticity model of BCI learning and skill consolidation at the single cell and population levels comprised of three elements: (a) behavioral time scale synaptic plasticity (BTSP), (b) intrinsic plasticity (IP) and (c) synaptic scaling (SS) operating at time scales from seconds to minutes to hours and days. Notably, the model is able to explainrepresentational drift-a frequent and widespread phenomenon that adversely affects BCI control and continued use.Approach.We developed an all-optical approach to characterize IP, BTSP and SS with single cell resolution in awake mice using fluorescent two photon (2P) GCaMP7s imaging and optogenetic stimulation of the soma targeted ChRmineKv2.1. We further trained mice on a one-dimensional BCI control task and systematically characterized within session (seconds to minutes) learning as well as across sessions (days and weeks) with different neural ensembles.Main results.On the time scale of seconds, substantial BTSP could be induced and was followed by significant IP over minutes. Over the time scale of days and weeks, these changes could predict BCI control proficiency, suggesting that BTSP and IP might be complemented by SS to stabilize and consolidate BCI control.Significance.Our results provide early experimental support for a meta plasticity model of continual BCI learning and skill consolidation. The model predictions may be used to design and calibrate neural decoders with complete autonomy while considering the temporal and spatial scales of plasticity mechanisms. With the power of modern-day machine learning and artificial Intelligence, fully autonomous neural decoding and adaptation in BCIs might be achieved with minimal to no human intervention.

Firing rates in visual cortex show representational drift, while temporal spike sequences remain stable

Neural firing-rate responses to sensory stimuli show progressive changes both within and across sessions, raising the question of how the brain maintains a stable code. One possibility is that other features of multi-neuron spiking patterns, e.g., the temporal structure, provide a stable coding mechanism. Here, we compared spike-rate and spike-timing codes in neural ensembles from six visual areas during natural video presentations. To quantify information in spike sequences, we used SpikeShip, a method based on the optimal transport theory that considers the relative spike-timing relations among all neurons. For large numbers of active neurons, temporal spike sequences conveyed more information than population firing-rate vectors. Firing-rate vectors exhibited substantial drift across repetitions and between blocks, in contrast to spike sequences, which were stable over time. These findings reveal a stable neural code based on relative spike-timing relations in high-dimensional neural ensembles.

Supervised autoencoder denoiser for non-stationarity in multi-session EEG-based BCI

Objective.Non-stationarity in electroencephalogram (EEG) signals poses significant challenges for the performance and implementation of brain-computer interfaces (BCIs).Approach.In this study, we propose a novel method for cross-session BCI tasks that employs a supervised autoencoder to reduce session-specific information while preserving task-related signals. Our approach compresses high-dimensional EEG inputs and reconstructs them, thereby mitigating non-stationary variability in the data. In addition to unsupervised minimization of the reconstruction error, the objective function of the network includes two supervised terms to ensure that the latent representations exclude session identity information and are optimized for subsequent classification.Main results.Evaluation across three different motor imagery datasets demonstrates that our approach effectively addresses domain adaptation challenges, outperforming both naïve cross-session and within-session methods.Significance.Our method eliminates the need for data from new sessions, making it fully unsupervised concerning new session data and reducing the necessity for recalibration with each session. Furthermore, the reduction of session-specific information in the reconstructed signals indicates that our approach effectively denoises non-stationary signals, thereby enhancing the accuracy of BCI models. Future applications could extend this model to a broader range of BCI tasks and explore the residual signals to investigate sources of non-stationary brain components and other cognitive processes.

Unified theoretical framework for wide neural network learning dynamics

Artificial neural networks have revolutionized machine learning in recent years, but a complete theoretical framework for their learning process is still lacking. Substantial theoretical advances have been achieved for wide networks, within two disparate theoretical frameworks: the neural tangent kernel (NTK), which assumes linearized gradient descent dynamics, and the Bayesian neural network Gaussian process (NNGP) framework. Here we unify these two theories using gradient descent learning dynamics with an additional small noise in an ensemble of wide deep networks. We construct an exact analytical theory for the network input-output function and introduce a new time-dependent neural dynamical kernel (NDK) from which both NTK and NNGP kernels are derived. We identify two learning phases characterized by different time scales: an initial gradient-driven learning phase, dominated by deterministic minimization of the loss, in which the time scale is mainly governed by the variance of the weight initialization. It is followed by a slow diffusive learning stage, during which the network parameters sample the solution space, with a time constant that is determined by the noise level and the variance of the Bayesian prior. The two variance parameters can strongly affect the performance in the two regimes, particularly in sigmoidal neurons. In contrast to the exponential convergence of the mean predictor in the initial phase, the convergence to the final equilibrium is more complex and may exhibit nonmonotonic behavior. By characterizing the diffusive learning phase, our work sheds light on the phenomenon of representational drift in the brain, explaining how neural activity can exhibit continuous changes in internal representations without degrading performance, either by ongoing weak gradient signals that synchronize the drifts of different synapses or by architectural biases that generate invariant code, i.e., task-relevant information that is robust against the drift process. This work closes the gap between the NTK and NNGP theories, providing a comprehensive framework for understanding the learning process of deep wide neural networks and for analyzing learning dynamics in biological neural circuits.

Sampling representational plasticity of simple imagined movements across days enables long-term neuroprosthetic control

The nervous system needs to balance the stability of neural representations with plasticity. It is unclear what the representational stability of simple well-rehearsed actions is, particularly in humans, and their adaptability to new contexts. Using an electrocorticography brain-computer interface (BCI) in tetraplegic participants, we found that the low-dimensional manifold and relative representational distances for a repertoire of simple imagined movements were remarkably stable. The manifold's absolute location, however, demonstrated constrained day-to-day drift. Strikingly, neural statistics, especially variance, could be flexibly regulated to increase representational distances during BCI control without somatotopic changes. Discernability strengthened with practice and was BCI-specific, demonstrating contextual specificity. Sampling representational plasticity and drift across days subsequently uncovered a meta-representational structure with generalizable decision boundaries for the repertoire; this allowed long-term neuroprosthetic control of a robotic arm and hand for reaching and grasping. Our study offers insights into mesoscale representational statistics that also enable long-term complex neuroprosthetic control.

Transcriptional determinants of goal-directed learning and representational drift in the parahippocampal cortex

Task learning involves learning associations between stimuli and outcomes and storing these relationships in memory. While this information can be reliably decoded from population activity, individual neurons encoding this representation can drift over time. The circuit or molecular mechanisms underlying this drift and its role in learning are unclear. We performed two-photon calcium imaging in the perirhinal cortex during task training. Using post hoc spatial transcriptomics, we measured immediate-early gene (IEG) expression and assigned monitored neurons to excitatory or inhibitory subtypes. We discovered an IEG-defined network spanning multiple subtypes that form stimulus-outcome associations. Targeted deletion of brain-derived neurotrophic factor in the perirhinal cortex disrupted IEG expression and impaired task learning. Representational drift slowed with prolonged training. Pre-existing representations were strengthened while stimulus-reward associations failed to form. Our findings reveal the cell types and molecules regulating long-term network stability that is permissive for task learning and memory allocation.

Novel off-context experience constrains hippocampal representational drift

The hippocampus forms unique neural representations for distinct experiences, supporting the formation of different memories.1,2,3,4,5,6 Hippocampal representations gradually change over time as animals repeatedly visit the same familiar environment ("representational drift").7,8,9,10,11,12 Such drift has also been observed in other brain areas, such as the parietal,13,14 visual,15,16,17 auditory,18,19 and olfactory20 cortices. While the underlying mechanisms of representational drift remain unclear, a leading hypothesis suggests that it results from ongoing learning processes.20,21,22 According to this hypothesis, because the brain uses the same neural substrates to support multiple distinct representations, learning of novel stimuli or environments leads to changes in the neuronal representation of a familiar one. If this is true, we would expect drift in a given environment to increase following new experiences in other, unrelated environments (i.e., off-context experiences). To test this hypothesis, we longitudinally recorded large populations of hippocampal neurons in mice while they repeatedly visited a familiar linear track over weeks. We introduced off-context experiences by placing mice in a novel environment for 1 h after each visit to the familiar track. Contrary to our expectations, these novel episodes decreased place cells' representational drift. Our findings are consistent with a model in which representations of distinct memories occupy different areas within the neuronal activity space, and the drift of each of them within that space is constrained by the area occupied by the others.

An optical brain-machine interface reveals a causal role of posterior parietal cortex in goal-directed navigation

Cortical circuits contain diverse sensory, motor, and cognitive signals, and form densely recurrent networks. This creates challenges for identifying causal relationships between neural populations and behavior. We developed a calcium imaging-based brain-machine interface (BMI) to study the role of posterior parietal cortex (PPC) in controlling navigation in virtual reality. By training a decoder to estimate navigational heading and velocity from PPC activity during virtual navigation, we discovered that mice could immediately navigate toward goal locations when control was switched to BMI. No learning or adaptation was observed during BMI, indicating that naturally occurring PPC activity patterns are sufficient to drive navigational trajectories in real time. During successful BMI trials, decoded trajectories decoupled from the mouse's physical movements, suggesting that PPC activity relates to intended trajectories. Our work demonstrates a role for PPC in navigation and offers a BMI approach for investigating causal links between neural activity and behavior.

Sensory experience steers representational drift in mouse visual cortex

Representational drift-the gradual continuous change of neuronal representations-has been observed across many brain areas. It is unclear whether drift is caused by synaptic plasticity elicited by sensory experience, or by the intrinsic volatility of synapses. Here, using chronic two-photon calcium imaging in primary visual cortex of female mice, we find that the preferred stimulus orientation of individual neurons slowly drifts over the course of weeks. By using cylinder lens goggles to limit visual experience to a narrow range of orientations, we show that the direction of drift, but not its magnitude, is biased by the statistics of visual input. A network model suggests that drift of preferred orientation largely results from synaptic volatility, which under normal visual conditions is counteracted by experience-driven Hebbian mechanisms, stabilizing preferred orientation. Under deprivation conditions these Hebbian mechanisms enable adaptation. Thus, Hebbian synaptic plasticity steers drift to match the statistics of the environment.

The representation of decision variables in orbitofrontal cortex is longitudinally stable

The computation and comparison of subjective values underlying economic choices rely on the orbitofrontal cortex (OFC). In this area, distinct groups of neurons encode the value of individual options, the binary choice outcome, and the chosen value. These variables capture both the choice input and the choice output, suggesting that the cell groups found in the OFC constitute the building blocks of a decision circuit. Here, we show that this neural circuit is longitudinally stable. Using two-photon calcium imaging, we record from the OFC of mice engaged in a juice-choice task. Imaging of individual cells continues for up to 40 weeks. For each cell and each session pair, we compare activity profiles using cosine similarity, and we assess whether the neuron encodes the same variable in both sessions. We find a high degree of stability and a modest representational drift. Quantitative estimates indicate that this drift would not randomize the circuit within the animal's lifetime.

Differential stability of task variable representations in retrosplenial cortex

Cortical neurons store information across different timescales, from seconds to years. Although information stability is variable across regions, it can vary within a region as well. Association areas are known to multiplex behaviorally relevant variables, but the stability of their representations is not well understood. Here, we longitudinally recorded the activity of neuronal populations in the mouse retrosplenial cortex (RSC) during the performance of a context-choice association task. We found that the activity of neurons exhibits different levels of stability across days. Using linear classifiers, we quantified the stability of three task-relevant variables. We find that RSC representations of context and trial outcome display higher stability than motor choice, both at the single cell and population levels. Together, our findings show an important characteristic of association areas, where diverse streams of information are stored with varying levels of stability, which may balance representational reliability and flexibility according to behavioral demands.

Prefrontal neuronal dynamics in the absence of task execution

Prefrontal cortical activity represents stimuli in working memory tasks in a low-dimensional manifold that transforms over the course of a trial. Such transformations reflect specific cognitive operations, so that, for example, the rotation of stimulus representations is thought to reduce interference by distractor stimuli. Here we show that rotations occur in the low-dimensional activity space of prefrontal neurons in naïve male monkeys (Macaca mulatta), while passively viewing familiar stimuli. Moreover, some aspects of these rotations remain remarkably unchanged after training to perform working memory tasks. Significant training effects are still present in population dynamics, which further distinguish correct and error trials during task execution. Our results reveal automatic functions of prefrontal neural circuits allow transformations that may aid cognitive flexibility.

Irrational choices via a curvilinear representational geometry for value

We make decisions by comparing values, but it is not yet clear how value is represented in the brain. Many models assume, if only implicitly, that the representational geometry of value is linear. However, in part due to a historical focus on noisy single neurons, rather than neuronal populations, this hypothesis has not been rigorously tested. Here, we examine the representational geometry of value in the ventromedial prefrontal cortex (vmPFC), a part of the brain linked to economic decision-making, in two male rhesus macaques. We find that values are encoded along a curved manifold in vmPFC. This curvilinear geometry predicts a specific pattern of irrational decision-making: that decision-makers will make worse choices when an irrelevant, decoy option is worse in value, compared to when it is better. We observe this type of irrational choices in behavior. Together, these results not only suggest that the representational geometry of value is nonlinear, but that this nonlinearity could impose bounds on rational decision-making.

Representations and generalization in artificial and brain neural networks

Humans and animals excel at generalizing from limited data, a capability yet to be fully replicated in artificial intelligence. This perspective investigates generalization in biological and artificial deep neural networks (DNNs), in both in-distribution and out-of-distribution contexts. We introduce two hypotheses: First, the geometric properties of the neural manifolds associated with discrete cognitive entities, such as objects, words, and concepts, are powerful order parameters. They link the neural substrate to the generalization capabilities and provide a unified methodology bridging gaps between neuroscience, machine learning, and cognitive science. We overview recent progress in studying the geometry of neural manifolds, particularly in visual object recognition, and discuss theories connecting manifold dimension and radius to generalization capacity. Second, we suggest that the theory of learning in wide DNNs, especially in the thermodynamic limit, provides mechanistic insights into the learning processes generating desired neural representational geometries and generalization. This includes the role of weight norm regularization, network architecture, and hyper-parameters. We will explore recent advances in this theory and ongoing challenges. We also discuss the dynamics of learning and its relevance to the issue of representational drift in the brain.

Representational maps in the brain: concepts, approaches, and applications

Neural systems have evolved to process sensory stimuli in a way that allows for efficient and adaptive behavior in a complex environment. Recent technological advances enable us to investigate sensory processing in animal models by simultaneously recording the activity of large populations of neurons with single-cell resolution, yielding high-dimensional datasets. In this review, we discuss concepts and approaches for assessing the population-level representation of sensory stimuli in the form of a representational map. In such a map, not only are the identities of stimuli distinctly represented, but their relational similarity is also mapped onto the space of neuronal activity. We highlight example studies in which the structure of representational maps in the brain are estimated from recordings in humans as well as animals and compare their methodological approaches. Finally, we integrate these aspects and provide an outlook for how the concept of representational maps could be applied to various fields in basic and clinical neuroscience.

A persistent prefrontal reference frame across time and task rules

Behavior can be remarkably consistent, even over extended time periods, yet whether this is reflected in stable or 'drifting' neuronal responses to task features remains controversial. Here, we find a persistently active ensemble of neurons in the medial prefrontal cortex (mPFC) of mice that reliably maintains trajectory-specific tuning over several weeks while performing an olfaction-guided spatial memory task. This task-specific reference frame is stabilized during learning, upon which repeatedly active neurons show little representational drift and maintain their trajectory-specific tuning across long pauses in task exposure and across repeated changes in cue-target location pairings. These data thus suggest a 'core ensemble' of prefrontal neurons forming a reference frame of task-relevant space for the performance of consistent behavior over extended periods of time.

The Representation of Decision Variables in Orbitofrontal Cortex is Longitudinally Stable

The computation and comparison of subjective values underlying economic choices rely on the orbitofrontal cortex (OFC). In this area, distinct groups of neurons encode the value of individual options, the binary choice outcome, and the chosen value. These variables capture both the input and the output of the choice process, suggesting that the cell groups found in OFC constitute the building blocks of a decision circuit. Here we show that this neural circuit is longitudinally stable. Using two-photon calcium imaging, we recorded from mice choosing between different juice flavors. Recordings of individual cells continued for up to 20 weeks. For each cell and each pair of sessions, we compared the activity profiles using cosine similarity, and we assessed whether the cell encoded the same variable in both sessions. These analyses revealed a high degree of stability and a modest representational drift. A quantitative estimate indicated this drift would not randomize the circuit within the animal's lifetime.

Transforming a head direction signal into a goal-oriented steering command

To navigate, we must continuously estimate the direction we are headed in, and we must correct deviations from our goal1. Direction estimation is accomplished by ring attractor networks in the head direction system2,3. However, we do not fully understand how the sense of direction is used to guide action. Drosophila connectome analyses4,5 reveal three cell populations (PFL3R, PFL3L and PFL2) that connect the head direction system to the locomotor system. Here we use imaging, electrophysiology and chemogenetic stimulation during navigation to show how these populations function. Each population receives a shifted copy of the head direction vector, such that their three reference frames are shifted approximately 120° relative to each other. Each cell type then compares its own head direction vector with a common goal vector; specifically, it evaluates the congruence of these vectors via a nonlinear transformation. The output of all three cell populations is then combined to generate locomotor commands. PFL3R cells are recruited when the fly is oriented to the left of its goal, and their activity drives rightward turning; the reverse is true for PFL3L. Meanwhile, PFL2 cells increase steering speed, and are recruited when the fly is oriented far from its goal. PFL2 cells adaptively increase the strength of steering as directional error increases, effectively managing the tradeoff between speed and accuracy. Together, our results show how a map of space in the brain can be combined with an internal goal to generate action commands, via a transformation from world-centric coordinates to body-centric coordinates.

Neuronal tuning to threat exposure remains stable in the mouse prefrontal cortex over multiple days

Intense threat elicits action in the form of active and passive coping. The medial prefrontal cortex (mPFC) executes top-level control over the selection of threat coping strategies, but the dynamics of mPFC activity upon continuing threat encounters remain unexplored. Here, we used 1-photon calcium imaging in mice to probe the activity of prefrontal pyramidal cells during repeated exposure to intense threat in a tail suspension (TS) paradigm. A subset of prefrontal neurons displayed selective activation during TS, which was stably maintained over days. During threat, neurons showed specific tuning to active or passive coping. These responses were unrelated to general motion tuning and persisted over days. Moreover, the neural manifold traversed by low-dimensional population activity remained stable over subsequent days of TS exposure and was preserved across individuals. These data thus reveal a specific, temporally, and interindividually conserved repertoire of prefrontal tuning to behavioral responses under threat.

Flexible regulation of representations on a drifting manifold enables long-term stable complex neuroprosthetic control

The nervous system needs to balance the stability of neural representations with plasticity. It is unclear what is the representational stability of simple actions, particularly those that are well-rehearsed in humans, and how it changes in new contexts. Using an electrocorticography brain-computer interface (BCI), we found that the mesoscale manifold and relative representational distances for a repertoire of simple imagined movements were remarkably stable. Interestingly, however, the manifold's absolute location demonstrated day-to-day drift. Strikingly, representational statistics, especially variance, could be flexibly regulated to increase discernability during BCI control without somatotopic changes. Discernability strengthened with practice and was specific to the BCI, demonstrating remarkable contextual specificity. Accounting for drift, and leveraging the flexibility of representations, allowed neuroprosthetic control of a robotic arm and hand for over 7 months without recalibration. Our study offers insight into how electrocorticography can both track representational statistics across long periods and allow long-term complex neuroprosthetic control.

Representational drift as a window into neural and behavioural plasticity

Large-scale recordings of neural activity over days and weeks have revealed that neural representations of familiar tasks, precepts and actions continually evolve without obvious changes in behaviour. We hypothesise that this steady drift in neural activity and accompanying physiological changes is due in part to the continuous application of a learning rule at the cellular and population level. Explicit predictions of this drift can be found in neural network models that use iterative learning to optimise weights. Drift therefore provides a measurable signal that can reveal systems-level properties of biological plasticity mechanisms, such as their precision and effective learning rates.

The sloppy relationship between neural circuit structure and function

Investigating and describing the relationships between the structure of a circuit and its function has a long tradition in neuroscience. Since neural circuits acquire their structure through sophisticated developmental programmes, and memories and experiences are maintained through synaptic modification, it is to be expected that structure is closely linked to function. Recent findings challenge this hypothesis from three different angles: function does not strongly constrain circuit parameters, many parameters in neural circuits are irrelevant and contribute little to function, and circuit parameters are unstable and subject to constant random drift. At the same time, however, recent work also showed that dynamics in neural circuit activity that is related to function are robust over time and across individuals. Here this apparent contradiction is addressed by considering the properties of neural manifolds that restrict circuit activity to functionally relevant subspaces, and it will be suggested that degenerate, anisotropic and unstable parameter spaces are closely related to the structure and implementation of functionally relevant neural manifolds.

Distinct ventral stream and prefrontal cortex representational dynamics during sustained conscious visual perception

Instances of sustained stationary sensory input are ubiquitous. However, previous work focused almost exclusively on transient onset responses. This presents a critical challenge for neural theories of consciousness, which should account for the full temporal extent of experience. To address this question, we use intracranial recordings from ten human patients with epilepsy to view diverse images of multiple durations. We reveal that, in sensory regions, despite dramatic changes in activation magnitude, the distributed representation of categories and exemplars remains sustained and stable. In contrast, in frontoparietal regions, we find transient content representation at stimulus onset. Our results highlight the connection between the anatomical and temporal correlates of experience. To the extent perception is sustained, it may rely on sensory representations and to the extent perception is discrete, centered on perceptual updating, it may rely on frontoparietal representations.

Remapping in a recurrent neural network model of navigation and context inference

Neurons in navigational brain regions provide information about position, orientation, and speed relative to environmental landmarks. These cells also change their firing patterns ('remap') in response to changing contextual factors such as environmental cues, task conditions, and behavioral states, which influence neural activity throughout the brain. How can navigational circuits preserve their local computations while responding to global context changes? To investigate this question, we trained recurrent neural network models to track position in simple environments while at the same time reporting transiently-cued context changes. We show that these combined task constraints (navigation and context inference) produce activity patterns that are qualitatively similar to population-wide remapping in the entorhinal cortex, a navigational brain region. Furthermore, the models identify a solution that generalizes to more complex navigation and inference tasks. We thus provide a simple, general, and experimentally-grounded model of remapping as one neural circuit performing both navigation and context inference.

Time and experience differentially affect distinct aspects of hippocampal representational drift

Hippocampal activity is critical for spatial memory. Within a fixed, familiar environment, hippocampal codes gradually change over timescales of days to weeks-a phenomenon known as representational drift. The passage of time and the amount of experience are two factors that profoundly affect memory. However, thus far, it has remained unclear to what extent these factors drive hippocampal representational drift. Here, we longitudinally recorded large populations of hippocampal neurons in mice while they repeatedly explored two different familiar environments that they visited at different time intervals over weeks. We found that time and experience differentially affected distinct aspects of representational drift: the passage of time drove changes in neuronal activity rates, whereas experience drove changes in the cells' spatial tuning. Changes in spatial tuning were context specific and largely independent of changes in activity rates. Thus, our results suggest that representational drift is a multi-faceted process governed by distinct neuronal mechanisms.

Active experience, not time, determines within-day representational drift in dorsal CA1

Memories of past events can be recalled long after the event, indicating stability. But new experiences are also integrated into existing memories, indicating plasticity. In the hippocampus, spatial representations are known to remain stable but have also been shown to drift over long periods of time. We hypothesized that experience, more than the passage of time, is the driving force behind representational drift. We compared the within-day stability of place cells' representations in dorsal CA1 of the hippocampus of mice traversing two similar, familiar tracks for different durations. We found that the more time the animals spent actively traversing the environment, the greater the representational drift, regardless of the total elapsed time between visits. Our results suggest that spatial representation is a dynamic process, related to the ongoing experiences within a specific context, and is related to memory update rather than to passive forgetting.

Differential encoding of temporal context and expectation under representational drift across hierarchically connected areas

The classic view that neural populations in sensory cortices preferentially encode responses to incoming stimuli has been strongly challenged by recent experimental studies. Despite the fact that a large fraction of variance of visual responses in rodents can be attributed to behavioral state and movements, trial-history, and salience, the effects of contextual modulations and expectations on sensory-evoked responses in visual and association areas remain elusive. Here, we present a comprehensive experimental and theoretical study showing that hierarchically connected visual and association areas differentially encode the temporal context and expectation of naturalistic visual stimuli, consistent with the theory of hierarchical predictive coding. We measured neural responses to expected and unexpected sequences of natural scenes in the primary visual cortex (V1), the posterior medial higher order visual area (PM), and retrosplenial cortex (RSP) using 2-photon imaging in behaving mice collected through the Allen Institute Mindscope's OpenScope program. We found that information about image identity in neural population activity depended on the temporal context of transitions preceding each scene, and decreased along the hierarchy. Furthermore, our analyses revealed that the conjunctive encoding of temporal context and image identity was modulated by expectations of sequential events. In V1 and PM, we found enhanced and specific responses to unexpected oddball images, signaling stimulus-specific expectation violation. In contrast, in RSP the population response to oddball presentation recapitulated the missing expected image rather than the oddball image. These differential responses along the hierarchy are consistent with classic theories of hierarchical predictive coding whereby higher areas encode predictions and lower areas encode deviations from expectation. We further found evidence for drift in visual responses on the timescale of minutes. Although activity drift was present in all areas, population responses in V1 and PM, but not in RSP, maintained stable encoding of visual information and representational geometry. Instead we found that RSP drift was independent of stimulus information, suggesting a role in generating an internal model of the environment in the temporal domain. Overall, our results establish temporal context and expectation as substantial encoding dimensions in the visual cortex subject to fast representational drift and suggest that hierarchically connected areas instantiate a predictive coding mechanism.

Unsupervised approach to decomposing neural tuning variability

Neural representation is often described by the tuning curves of individual neurons with respect to certain stimulus variables. Despite this tradition, it has become increasingly clear that neural tuning can vary substantially in accordance with a collection of internal and external factors. A challenge we are facing is the lack of appropriate methods to accurately capture the moment-to-moment tuning variability directly from the noisy neural responses. Here we introduce an unsupervised statistical approach, Poisson functional principal component analysis (Pf-PCA), which identifies different sources of systematic tuning fluctuations, moreover encompassing several current models (e.g.,multiplicative gain models) as special cases. Applying this method to neural data recorded from macaque primary visual cortex- a paradigmatic case for which the tuning curve approach has been scientifically essential- we discovered a simple relationship governing the variability of orientation tuning, which unifies different types of gain changes proposed previously. By decomposing the neural tuning variability into interpretable components, our method enables discovery of unexpected structure of the neural code, capturing the influence of the external stimulus drive and internal states simultaneously.

Coordinated drift of receptive fields in Hebbian/anti-Hebbian network models during noisy representation learning

Recent experiments have revealed that neural population codes in many brain areas continuously change even when animals have fully learned and stably perform their tasks. This representational 'drift' naturally leads to questions about its causes, dynamics and functions. Here we explore the hypothesis that neural representations optimize a representational objective with a degenerate solution space, and noisy synaptic updates drive the network to explore this (near-)optimal space causing representational drift. We illustrate this idea and explore its consequences in simple, biologically plausible Hebbian/anti-Hebbian network models of representation learning. We find that the drifting receptive fields of individual neurons can be characterized by a coordinated random walk, with effective diffusion constants depending on various parameters such as learning rate, noise amplitude and input statistics. Despite such drift, the representational similarity of population codes is stable over time. Our model recapitulates experimental observations in the hippocampus and posterior parietal cortex and makes testable predictions that can be probed in future experiments.

Continuously changing memories: a framework for proactive and non-linear consolidation

The traditional view of long-term memory is that memory traces mature in a predetermined 'linear' process: their neural substrate shifts from rapidly plastic medial temporal regions towards stable neocortical networks. We propose that memories remain malleable, not by repeated reinstantiations of this linear process but instead via dynamic routes of proactive and non-linear consolidation: memories change, their trajectory is flexible and reversible, and their physical basis develops continuously according to anticipated demands. Studies demonstrating memory updating, increasing hippocampal dependence to support adaptive use, and rapid neocortical plasticity provide evidence for continued non-linear consolidation. Although anticipated demand can affect all stages of memory formation, the extent to which it shapes the physical memory trace repeatedly and proactively will require further dedicated research.

Significance of visual scene-based learning in the hippocampal systems across mammalian species

The hippocampus and its associated cortical regions in the medial temporal lobe play essential roles when animals form a cognitive map and use it to achieve their goals. As the nature of map-making involves sampling different local views of the environment and putting them together in a spatially cohesive way, visual scenes are essential ingredients in the formative process of cognitive maps. Visual scenes also serve as important cues during information retrieval from the cognitive map. Research in humans has shown that there are regions in the brain that selectively process scenes and that the hippocampus is involved in scene-based memory tasks. The neurophysiological correlates of scene-based information processing in the hippocampus have been reported as "spatial view cells" in nonhuman primates. Like primates, it is widely accepted that rodents also use visual scenes in their background for spatial navigation and other kinds of problems. However, in rodents, it is not until recently that researchers examined the neural correlates of the hippocampus from the perspective of visual scene-based information processing. With the advent of virtual reality (VR) systems, it has been demonstrated that place cells in the hippocampus exhibit remarkably similar firing correlates in the VR environment compared with that of the real-world environment. Despite some limitations, the new trend of studying hippocampal functions in a visually controlled environment has the potential to allow investigation of the input-output relationships of network functions and experimental testing of traditional computational predictions more rigorously by providing well-defined visual stimuli. As scenes are essential for navigation and episodic memory in humans, further investigation of the rodents' hippocampal systems in scene-based tasks will provide a critical functional link across different mammalian species.

Long-term stability of single neuron activity in the motor system

How an established behavior is retained and consistently produced by a nervous system in constant flux remains a mystery. One possible solution to ensure long-term stability in motor output is to fix the activity patterns of single neurons in the relevant circuits. Alternatively, activity in single cells could drift over time provided that the population dynamics are constrained to produce the same behavior. To arbitrate between these possibilities, we recorded single-unit activity in motor cortex and striatum continuously for several weeks as rats performed stereotyped motor behaviors-both learned and innate. We found long-term stability in single neuron activity patterns across both brain regions. A small amount of drift in neural activity, observed over weeks of recording, could be explained by concomitant changes in task-irrelevant aspects of the behavior. These results suggest that long-term stable behaviors are generated by single neuron activity patterns that are themselves highly stable.

A stable sensory map emerges from a dynamic equilibrium of neurons with unstable tuning properties

Recent long-term measurements of neuronal activity have revealed that, despite stability in large-scale topographic maps, the tuning properties of individual cortical neurons can undergo substantial reformatting over days. To shed light on this apparent contradiction, we captured the sound response dynamics of auditory cortical neurons using repeated 2-photon calcium imaging in awake mice. We measured sound-evoked responses to a set of pure tone and complex sound stimuli in more than 20,000 auditory cortex neurons over several days. We found that a substantial fraction of neurons dropped in and out of the population response. We modeled these dynamics as a simple discrete-time Markov chain, capturing the continuous changes in responsiveness observed during stable behavioral and environmental conditions. Although only a minority of neurons were driven by the sound stimuli at a given time point, the model predicts that most cells would at least transiently become responsive within 100 days. We observe that, despite single-neuron volatility, the population-level representation of sound frequency was stably maintained, demonstrating the dynamic equilibrium underlying the tonotopic map. Our results show that sensory maps are maintained by shifting subpopulations of neurons “sharing” the job of creating a sensory representation.

Tuning instability of non-columnar neurons in the salt-and-pepper whisker map in somatosensory cortex

Rodent sensory cortex contains salt-and-pepper maps of sensory features, whose structure is not fully known. Here we investigated the structure of the salt-and-pepper whisker somatotopic map among L2/3 pyramidal neurons in somatosensory cortex, in awake mice performing one-vs-all whisker discrimination. Neurons tuned for columnar (CW) and non-columnar (non-CW) whiskers were spatially intermixed, with co-tuned neurons forming local (20 µm) clusters. Whisker tuning was markedly unstable in expert mice, with 35-46% of pyramidal cells significantly shifting tuning over 5-18 days. Tuning instability was highly concentrated in non-CW tuned neurons, and thus was structured in the map. Instability of non-CW neurons was unchanged during chronic whisker paralysis and when mice discriminated individual whiskers, suggesting it is an inherent feature. Thus, L2/3 combines two distinct components: a stable columnar framework of CW-tuned cells that may promote spatial perceptual stability, plus an intermixed, non-columnar surround with highly unstable tuning.

The geometry of representational drift in natural and artificial neural networks

Neurons in sensory areas encode/represent stimuli. Surprisingly, recent studies have suggested that, even during persistent performance, these representations are not stable and change over the course of days and weeks. We examine stimulus representations from fluorescence recordings across hundreds of neurons in the visual cortex using in vivo two-photon calcium imaging and we corroborate previous studies finding that such representations change as experimental trials are repeated across days. This phenomenon has been termed "representational drift". In this study we geometrically characterize the properties of representational drift in the primary visual cortex of mice in two open datasets from the Allen Institute and propose a potential mechanism behind such drift. We observe representational drift both for passively presented stimuli, as well as for stimuli which are behaviorally relevant. Across experiments, the drift differs from in-session variance and most often occurs along directions that have the most in-class variance, leading to a significant turnover in the neurons used for a given representation. Interestingly, despite this significant change due to drift, linear classifiers trained to distinguish neuronal representations show little to no degradation in performance across days. The features we observe in the neural data are similar to properties of artificial neural networks where representations are updated by continual learning in the presence of dropout, i.e. a random masking of nodes/weights, but not other types of noise. Therefore, we conclude that a potential reason for the representational drift in biological networks is driven by an underlying dropout-like noise while continuously learning and that such a mechanism may be computational advantageous for the brain in the same way it is for artificial neural networks, e.g. preventing overfitting.

Neural signature of flexible coding in prefrontal cortex

The ability of prefrontal cortex to quickly encode novel associations is crucial for adaptive behavior and central to working memory. Fast Hebbian changes in synaptic strength permit forming new associations, but neuronal signatures of this have been elusive. We devised a trialwise index of pattern similarity to look for rapid changes in population codes. Based on a computational model of working memory, we hypothesized that synaptic strength-and consequently, the tuning of neurons-could change if features of a subsequent stimulus need to be "reassociated," i.e., if bindings between features need to be broken to encode the new item. As a result, identical stimuli might elicit different neural responses. As predicted, neural response similarity dropped following rebinding, but only in prefrontal cortex. The history-dependent changes were expressed on top of traditional, fixed selectivity and were not explainable by carryover of previous firing into the current trial or by neural adaptation.

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.

Representational drift: Emerging theories for continual learning and experimental future directions

Recent work has revealed that the neural activity patterns correlated with sensation, cognition, and action often are not stable and instead undergo large scale changes over days and weeks-a phenomenon called representational drift. Here, we highlight recent observations of drift, how drift is unlikely to be explained by experimental confounds, and how the brain can likely compensate for drift to allow stable computation. We propose that drift might have important roles in neural computation to allow continual learning, both for separating and relating memories that occur at distinct times. Finally, we present an outlook on future experimental directions that are needed to further characterize drift and to test emerging theories for drift's role in computation.

Drifting neuronal representations: Bug or feature?

The brain displays a remarkable ability to sustain stable memories, allowing animals to execute precise behaviors or recall stimulus associations years after they were first learned. Yet, recent long-term recording experiments have revealed that single-neuron representations continuously change over time, contravening the classical assumption that learned features remain static. How do unstable neural codes support robust perception, memories, and actions? Here, we review recent experimental evidence for such representational drift across brain areas, as well as dissections of its functional characteristics and underlying mechanisms. We emphasize theoretical proposals for how drift need not only be a form of noise for which the brain must compensate. Rather, it can emerge from computationally beneficial mechanisms in hierarchical networks performing robust probabilistic computations.

Highly unstable heterogeneous representations in VIP interneurons of the anterior cingulate cortex

A hallmark of the anterior cingulate cortex (ACC) is its functional heterogeneity. Functional and imaging studies revealed its importance in the encoding of anxiety-related and social stimuli, but it is unknown how microcircuits within the ACC encode these distinct stimuli. One type of inhibitory interneuron, which is positive for vasoactive intestinal peptide (VIP), is known to modulate the activity of pyramidal cells in local microcircuits, but it is unknown whether VIP cells in the ACC (VIPACC) are engaged by particular contexts or stimuli. Additionally, recent studies demonstrated that neuronal representations in other cortical areas can change over time at the level of the individual neuron. However, it is not known whether stimulus representations in the ACC remain stable over time. Using in vivo Ca2+ imaging and miniscopes in freely behaving mice to monitor neuronal activity with cellular resolution, we identified individual VIPACC that preferentially activated to distinct stimuli across diverse tasks. Importantly, although the population-level activity of the VIPACC remained stable across trials, the stimulus-selectivity of individual interneurons changed rapidly. These findings demonstrate marked functional heterogeneity and instability within interneuron populations in the ACC. This work contributes to our understanding of how the cortex encodes information across diverse contexts and provides insight into the complexity of neural processes involved in anxiety and social behavior.

Self-healing codes: How stable neural populations can track continually reconfiguring neural representations

As an adaptive system, the brain must retain a faithful representation of the world while continuously integrating new information. Recent experiments have measured population activity in cortical and hippocampal circuits over many days and found that patterns of neural activity associated with fixed behavioral variables and percepts change dramatically over time. Such "representational drift" raises the question of how malleable population codes can interact coherently with stable long-term representations that are found in other circuits and with relatively rigid topographic mappings of peripheral sensory and motor signals. We explore how known plasticity mechanisms can allow single neurons to reliably read out an evolving population code without external error feedback. We find that interactions between Hebbian learning and single-cell homeostasis can exploit redundancy in a distributed population code to compensate for gradual changes in tuning. Recurrent feedback of partially stabilized readouts could allow a pool of readout cells to further correct inconsistencies introduced by representational drift. This shows how relatively simple, known mechanisms can stabilize neural tuning in the short term and provides a plausible explanation for how plastic neural codes remain integrated with consolidated, long-term representations.

Robustness: linking strain design to viable bioprocesses

Microbial cell factories are becoming increasingly popular for the sustainable production of various chemicals. Metabolic engineering has led to the design of advanced cell factories; however, their long-term yield, titer, and productivity falter when scaled up and subjected to industrial conditions. This limitation arises from a lack of robustness - the ability to maintain a constant phenotype despite the perturbations of such processes. This review describes predictable and stochastic industrial perturbations as well as state-of-the-art technologies to counter process variability. Moreover, we distinguish robustness from tolerance and discuss the potential of single-cell studies for improving system robustness. Finally, we highlight ways of achieving consistent and comparable quantification of robustness that can guide the selection of strains for industrial bioprocesses.

How learning unfolds in the brain: toward an optimization view

How do changes in the brain lead to learning? To answer this question, consider an artificial neural network (ANN), where learning proceeds by optimizing a given objective or cost function. This "optimization framework" may provide new insights into how the brain learns, as many idiosyncratic features of neural activity can be recapitulated by an ANN trained to perform the same task. Nevertheless, there are key features of how neural population activity changes throughout learning that cannot be readily explained in terms of optimization and are not typically features of ANNs. Here we detail three of these features: (1) the inflexibility of neural variability throughout learning, (2) the use of multiple learning processes even during simple tasks, and (3) the presence of large task-nonspecific activity changes. We propose that understanding the role of these features in the brain will be key to describing biological learning using an optimization framework.

Drifting assemblies for persistent memory: Neuron transitions and unsupervised compensation

Change is ubiquitous in living beings. In particular, the connectome and neural representations can change. Nevertheless, behaviors and memories often persist over long times. In a standard model, associative memories are represented by assemblies of strongly interconnected neurons. For faithful storage these assemblies are assumed to consist of the same neurons over time. Here we propose a contrasting memory model with complete temporal remodeling of assemblies, based on experimentally observed changes of synapses and neural representations. The assemblies drift freely as noisy autonomous network activity and spontaneous synaptic turnover induce neuron exchange. The gradual exchange allows activity-dependent and homeostatic plasticity to conserve the representational structure and keep inputs, outputs, and assemblies consistent. This leads to persistent memory. Our findings explain recent experimental results on temporal evolution of fear memory representations and suggest that memory systems need to be understood in their completeness as individual parts may constantly change.

Representational drift in the mouse visual cortex

Recent studies have shown that neuronal representations gradually change over time despite no changes in the stimulus, environment, or behavior. However, such representational drift has been assumed to be a property of high-level brain structures, whereas earlier circuits, such as sensory cortices, have been assumed to stably encode information over time. Here, we analyzed large-scale optical and electrophysiological recordings from six visual cortical areas in behaving mice that were repeatedly presented with the same natural movies. Contrary to the prevailing notion, we found representational drift over timescales spanning minutes to days across multiple visual areas, cortical layers, and cell types. Notably, neural-code stability did not reflect the hierarchy of information flow across areas. Although individual neurons showed time-dependent changes in their coding properties, the structure of the relationships between population activity patterns remained stable and stereotypic. Such population-level organization may underlie stable visual perception despite continuous changes in neuronal responses.

The population doctrine in cognitive neuroscience

A major shift is happening within neurophysiology: a population doctrine is drawing level with the single-neuron doctrine that has long dominated the field. Population-level ideas have so far had their greatest impact in motor neuroscience, but they hold great promise for resolving open questions in cognition as well. Here, we codify the population doctrine and survey recent work that leverages this view to specifically probe cognition. Our discussion is organized around five core concepts that provide a foundation for population-level thinking: (1) state spaces, (2) manifolds, (3) coding dimensions, (4) subspaces, and (5) dynamics. The work we review illustrates the progress and promise that population-level thinking holds for cognitive neuroscience-for delivering new insight into attention, working memory, decision-making, executive function, learning, and reward processing.

Optimal plasticity for memory maintenance during ongoing synaptic change

Synaptic connections in many brain circuits fluctuate, exhibiting substantial turnover and remodelling over hours to days. Surprisingly, experiments show that most of this flux in connectivity persists in the absence of learning or known plasticity signals. How can neural circuits retain learned information despite a large proportion of ongoing and potentially disruptive synaptic changes? We address this question from first principles by analysing how much compensatory plasticity would be required to optimally counteract ongoing fluctuations, regardless of whether fluctuations are random or systematic. Remarkably, we find that the answer is largely independent of plasticity mechanisms and circuit architectures: compensatory plasticity should be at most equal in magnitude to fluctuations, and often less, in direct agreement with previously unexplained experimental observations. Moreover, our analysis shows that a high proportion of learning-independent synaptic change is consistent with plasticity mechanisms that accurately compute error gradients.

Stimulus-dependent representational drift in primary visual cortex

To produce consistent sensory perception, neurons must maintain stable representations of sensory input. However, neurons in many regions exhibit progressive drift across days. Longitudinal studies have found stable responses to artificial stimuli across sessions in visual areas, but it is unclear whether this stability extends to naturalistic stimuli. We performed chronic 2-photon imaging of mouse V1 populations to directly compare the representational stability of artificial versus naturalistic visual stimuli over weeks. Responses to gratings were highly stable across sessions. However, neural responses to naturalistic movies exhibited progressive representational drift across sessions. Differential drift was present across cortical layers, in inhibitory interneurons, and could not be explained by differential response strength or higher order stimulus statistics. However, representational drift was accompanied by similar differential changes in local population correlation structure. These results suggest representational stability in V1 is stimulus-dependent and may relate to differences in preexisting circuit architecture of co-tuned neurons.

Stable representation of a naturalistic movie emerges from episodic activity with gain variability

Visual cortical responses are known to be highly variable across trials within an experimental session. However, the long-term stability of visual cortical responses is poorly understood. Here using chronic imaging of V1 in mice we show that neural responses to repeated natural movie clips are unstable across weeks. Individual neuronal responses consist of sparse episodic activity which are stable in time but unstable in gain across weeks. Further, we find that the individual episode, instead of neuron, serves as the basic unit of the week-to-week fluctuation. To investigate how population activity encodes the stimulus, we extract a stable one-dimensional representation of the time in the natural movie, using an unsupervised method. Most week-to-week fluctuation is perpendicular to the stimulus encoding direction, thus leaving the stimulus representation largely unaffected. We propose that precise episodic activity with coordinated gain changes are keys to maintain a stable stimulus representation in V1.

Decoding Neural Activity in Sulcal and White Matter Areas of the Brain to Accurately Predict Individual Finger Movement and Tactile Stimuli of the Human Hand

Millions of people worldwide suffer motor or sensory impairment due to stroke, spinal cord injury, multiple sclerosis, traumatic brain injury, diabetes, and motor neuron diseases such as ALS (amyotrophic lateral sclerosis). A brain-computer interface (BCI), which links the brain directly to a computer, offers a new way to study the brain and potentially restore impairments in patients living with these debilitating conditions. One of the challenges currently facing BCI technology, however, is to minimize surgical risk while maintaining efficacy. Minimally invasive techniques, such as stereoelectroencephalography (SEEG) have become more widely used in clinical applications in epilepsy patients since they can lead to fewer complications. SEEG depth electrodes also give access to sulcal and white matter areas of the brain but have not been widely studied in brain-computer interfaces. Here we show the first demonstration of decoding sulcal and subcortical activity related to both movement and tactile sensation in the human hand. Furthermore, we have compared decoding performance in SEEG-based depth recordings versus those obtained with electrocorticography electrodes (ECoG) placed on gyri. Initial poor decoding performance and the observation that most neural modulation patterns varied in amplitude trial-to-trial and were transient (significantly shorter than the sustained finger movements studied), led to the development of a feature selection method based on a repeatability metric using temporal correlation. An algorithm based on temporal correlation was developed to isolate features that consistently repeated (required for accurate decoding) and possessed information content related to movement or touch-related stimuli. We subsequently used these features, along with deep learning methods, to automatically classify various motor and sensory events for individual fingers with high accuracy. Repeating features were found in sulcal, gyral, and white matter areas and were predominantly phasic or phasic-tonic across a wide frequency range for both HD (high density) ECoG and SEEG recordings. These findings motivated the use of long short-term memory (LSTM) recurrent neural networks (RNNs) which are well-suited to handling transient input features. Combining temporal correlation-based feature selection with LSTM yielded decoding accuracies of up to 92.04 ± 1.51% for hand movements, up to 91.69 ± 0.49% for individual finger movements, and up to 83.49 ± 0.72% for focal tactile stimuli to individual finger pads while using a relatively small number of SEEG electrodes. These findings may lead to a new class of minimally invasive brain-computer interface systems in the future, increasing its applicability to a wide variety of conditions.