Learning to predict target location with turbulent odor plumes

Fly navigational responses to odor motion and gradient cues are tuned to plume statistics

Odor cues guide animals to food and mates. Different environmental conditions can create differently patterned odor plumes, making navigation more challenging. Prior work has shown that animals turn upwind when they detect odor and cast crosswind when they lose it. Animals with bilateral olfactory sensors can also detect directional odor cues, such as odor gradient and odor motion. It remains unknown how animals use these two directional odor cues to guide crosswind navigation in odor plumes with distinct statistics. Here, we investigate this problem theoretically and experimentally. We show that these directional odor cues provide complementary information for navigation in different plume environments. We numerically analyzed real plumes to show that odor gradient cues are more informative about crosswind directions in relatively smooth odor plumes, while odor motion cues are more informative in turbulent or complex plumes. Neural networks trained to optimize crosswind turning converge to distinctive network structures that are tuned to odor gradient cues in smooth plumes and to odor motion cues in complex plumes. These trained networks improve the performance of artificial agents navigating plume environments that match the training environment. By recording Drosophila fruit flies as they navigated different odor plume environments, we verified that flies show the same correspondence between informative cues and plume types. Fly turning in the crosswind direction is correlated with odor gradients in smooth plumes and with odor motion in complex plumes. Overall, these results demonstrate that these directional odor cues are complementary across environments, and that animals exploit this relationship.

Significance

Many animals use smell to find food and mates, often navigating complex odor plumes shaped by environmental conditions. While upwind movement upon odor detection is well established, less is known about how animals steer crosswind to stay in the plume. We show that directional odor cues-gradients and motion-guide crosswind navigation differently depending on plume structure. Gradients carry more information in smooth plumes, while motion dominates in turbulent ones. Neural network trained to optimize crosswind navigation reflect this distinction, developing gradient sensitivity in smooth environments and motion sensitivity in complex ones. Experimentally, fruit flies adjust their turning behavior to prioritize the most informative cue in each context. These findings likely generalize to other animals navigating similarly structured odor plumes.

Amplification of olfactory transduction currents implements sparse stimulus encoding

Sensory systems must perform the dual and opposing tasks of being sensitive to weak stimuli while also maintaining information content in dense and variable sensory landscapes. This occurs in the olfactory system, where OSNs are highly sensitive to low concentrations of odors and maintain discriminability in complex odor environments. How olfactory sensory neurons (OSNs) maintain both sensitivity and sparsity is poorly understood. Here, we investigated whether the calcium-activated chloride channel, TMEM16B, may support these dual roles in OSNs in both male and female mice. We used multiphoton microscopy to image the stimulus-response density of OSNs in the olfactory epithelium. In TMEM16B knockout mice, we found that sensory representations were denser, and the magnitude of OSN responses was increased. Behaviorally, these changes in sensory representations were associated with an increased aversion to the odorant trimethylamine, which switches perceptual valence as its concentration increases, and a decreased efficiency of olfactory-guided navigation. Our results indicate that the calcium-activated chloride channel TMEM16B sparsens sensory representations in the peripheral olfactory system and contributes to efficient integrative olfactory-guided behaviors.Significance Statement Sensory systems must build internal neural representations of stimuli found in the external environment. In the olfactory system, molecules that give rise to the perception of odors are detected by olfactory sensory neurons within the nose. Upon odorant binding to sensory neurons, a biochemical signaling cascade transduces neural signals that other areas of the brain can then read out. A key component of this cascade is the calcium-activated chloride channel TMEM16B. We found that despite its role in amplifying transduction currents in olfactory sensory neurons, TMEM16B paradoxically constrains their output, thereby limiting information transfer to the brain. Our findings also indicate that TMEM16B plays an important role in how animals detect and perceive odors.

Q-learning with temporal memory to navigate turbulence

We consider the problem of olfactory searches in a turbulent environment. We focus on agents that respond solely to odor stimuli, with no access to spatial perception nor prior information about the odor. We ask whether navigation to a target can be learned robustly within a sequential decision making framework. We develop a reinforcement learning algorithm using a small set of interpretable olfactory states and train it with realistic turbulent odor cues. By introducing a temporal memory, we demonstrate that two salient features of odor traces, discretized in few olfactory states, are sufficient to learn navigation in a realistic odor plume. Performance is dictated by the sparse nature of turbulent odors. An optimal memory exists which ignores blanks within the plume and activates a recovery strategy outside the plume. We obtain the best performance by letting agents learn their recovery strategy and show that it is mostly casting cross wind, similar to behavior observed in flying insects. The optimal strategy is robust to substantial changes in the odor plumes, suggesting minor parameter tuning may be sufficient to adapt to different environments.

Simple olfactory navigation in air and water

Two simple algorithms based on combining odor concentration differences across time and space along with information on the flow direction are tested for their ability to locate an odor source in four different odor landscapes. Image data taken from air plumes in three different regimes and a water plume are used as test environments for a bilateral ("stereo sampling") algorithm using concentration differences across two sensors and a "casting" algorithm that uses successive samples to decide orientation. Agents are started at random locations and orientations in the landscape and allowed to move until they reach the source of the odor (success) or leave the imaged area (failure). Parameters for the algorithm are chosen to optimize success and to minimize path length to the source. Success rates over 90% are consistently obtained with path lengths that can be as low as twice the starting distance from the source in air and four times the distance in the highly turbulent water plumes. We find that parameters that optimize success often lead to more exploratory pathways to the source. Information about the direction from which the odor is coming is necessary for successful navigation in the water plume and reduces the path length in the three tested air plumes.

Olfactory dysfunction decreased local field potential in the reward system and increased EtOH consumption in mice

The relationship between olfactory dysfunction and alcohol intake is unobvious. Chronic alcohol intake results in reduced olfactory acuity and olfactory discrimination and addiction in humans. However, alcohol is a beverage with distinctive odors, which usually works as a cue to induce addictive memories and craving behavior. Whether olfactory impairment increase or decrease alcohol consumption remains an important but unclear issue. In this study, we measured ethanol (EtOH) consumption in the two-bottle choice EtOH drinking test, two bottle choice EtOH/sucrose drinking test and the drinking in the dark (DID) test during the olfactory loss. We also recorded local field potentials (LFPs) from the brain reward system, the ventral tegmental area (VTA), nucleus accumbens (NAc), and piriform cortex (Pir) one and four weeks after the induction of olfactory epithelium lesions using zinc sulfate (ZnSO4) in mice. The results showed that the EtOH consumption and preference were increased during the period of olfactory dysfunction. 1 week after the olfactory injury, LFP powers in the reward system at low- and high-gamma bands decreased significantly, coherence between the Pir and the reward system was also decrease. 4 weeks after the ZnSO4 treatment, LFP powers were reversed, but the coherence between VTA and NAc was decreased, indicating lasting effects post-recovery. This study demonstrates that olfactory dysfunction increased EtOH consumption in mice, which was accompanied by decreased LFP power and coherence in the reward system, which suggest that olfactory deficits changed activities in the reward system and could alter reward-seeking behaviors, which provide insights into the neurobiology of alcohol addiction.

Amplification of olfactory transduction currents implements sparse stimulus encoding

Sensory systems must perform the dual and opposing tasks of being sensitive to weak stimuli while also maintaining information content in dense and variable sensory landscapes. This occurs in the olfactory system, where OSNs are highly sensitive to low concentrations of odors and maintain discriminability in complex odor environments. How olfactory sensory neurons (OSNs) maintain both sensitivity and sparsity is not well understood. Here, we investigated whether the calcium-activated chloride channel, TMEM16B, may support these dual roles in OSNs. We used multiphoton microscopy to image the stimulus-response density of OSNs in the olfactory epithelium. In TMEM16B knockout mice, we found that sensory representations were denser, and the magnitude of OSN responses was increased. Behaviorally, these changes in sensory representations were associated with an increased aversion to the odorant trimethylamine, which switches perceptual valence as its concentration increases, and a decreased efficiency of olfactory-guided navigation. Together, our results indicate that the calcium-activated chloride channel TMEM16B sparsens sensory representations in the peripheral olfactory system and contributes to efficient integrative olfactory-guided behaviors.

Odour source distance is predictable from a time history of odour statistics for large scale outdoor plumes

Odour plumes in turbulent environments are intermittent and sparse. Laboratory-scaled experiments suggest that information about the source distance may be encoded in odour signal statistics, yet it is unclear whether useful and continuous distance estimates can be made under real-world flow conditions. Here, we analyse odour signals from outdoor experiments with a sensor moving across large spatial scales in desert and forest environments to show that odour signal statistics can yield useful estimates of distance. We show that achieving accurate estimates of distance requires integrating statistics from 5 to 10 s, with a high temporal encoding of the olfactory signal of at least 20 Hz. By combining distance estimates from a linear model with wind-relative motion dynamics, we achieved source distance estimates in a 60 × 60 m2 search area with median errors of 3-8 m, a distance at which point odour sources are often within visual range for animals such as mosquitoes.

The spiking output of the mouse olfactory bulb encodes large-scale temporal features of natural odor environments

In natural odor environments, odor travels in plumes. Odor concentration dynamics change in characteristic ways across the width and length of a plume. Thus, spatiotemporal dynamics of plumes have informative features for animals navigating to an odor source. Population activity in the olfactory bulb (OB) has been shown to follow odor concentration across plumes to a moderate degree (Lewis et al., 2021). However, it is unknown whether the ability to follow plume dynamics is driven by individual cells or whether it emerges at the population level. Previous research has explored the responses of individual OB cells to isolated features of plumes, but it is difficult to adequately sample the full feature space of plumes as it is still undetermined which features navigating mice employ during olfactory guided search. Here we released odor from an upwind odor source and simultaneously recorded both odor concentration dynamics and cellular response dynamics in awake, head-fixed mice. We found that longer timescale features of odor concentration dynamics were encoded at both the cellular and population level. At the cellular level, responses were elicited at the beginning of the plume for each trial, signaling plume onset. Plumes with high odor concentration elicited responses at the end of the plume, signaling plume offset. Although cellular level tracking of plume dynamics was observed to be weak, we found that at the population level, OB activity distinguished whiffs and blanks (accurately detected odor presence versus absence) throughout the duration of a plume. Even ~20 OB cells were enough to accurately discern odor presence throughout a plume. Our findings indicate that the full range of odor concentration dynamics and high frequency fluctuations are not encoded by OB spiking activity. Instead, relatively lower-frequency temporal features of plumes, such as plume onset, plume offset, whiffs, and blanks, are represented in the OB.

The black-legged tick Ixodes scapularis detects CO2 without the Haller's organ

Both male and female ticks have a strong innate drive to find and blood-feed on hosts. Carbon dioxide (CO2) is considered a critical behavioral activator and attractant for ticks and an essential sensory cue to find hosts. Yet, how CO2 activates and promotes host seeking in ticks is poorly understood. CO2 responses were studied in the black-legged tick Ixodes scapularis, the primary vector for Lyme disease in North America. Adult males and females were exposed to 1%, 2%, 4% or 8% CO2, and changes in walking behavior and foreleg movement were analyzed. CO2 is a potent stimulant for adult I. scapularis, even at lower concentrations (1%). Behavioral reactions depended on the animal's state: walking ticks increased their walking speed, while stationary ticks started to wave their forelegs and began to quest - both behaviors resembling aspects of host seeking. Only in sporadic cases did stationary animals start to walk when exposed to CO2, supporting the hypothesis that CO2 acts as an activator rather than an attractant. Furthermore, I. scapularis did not show a clear concentration preference and was not tuned more robustly to breath-like CO2 concentrations (∼4%) than to the other concentrations tested. Moreover, convincing evidence is provided showing that the foreleg Haller's organ is not necessary for CO2 detection. Even with a disabled or amputated Haller's organ, I. scapularis responded robustly to CO2, signifying that there must be CO2-sensitive structures important for tick host seeking that have not yet been identified.

Behavioral discrimination and olfactory bulb encoding of odor plume intermittency

In order to survive, animals often need to navigate a complex odor landscape where odors can exist in airborne plumes. Several odor plume properties change with distance from the odor source, providing potential navigational cues to searching animals. Here, we focus on odor intermittency, a temporal odor plume property that measures the fraction of time odor is above a threshold at a given point within the plume and decreases with increasing distance from the odor source. We sought to determine if mice can use changes in intermittency to locate an odor source. To do so, we trained mice on an intermittency discrimination task. We establish that mice can discriminate odor plume samples of low and high intermittency and that the neural responses in the olfactory bulb can account for task performance and support intermittency encoding. Modulation of sniffing, a behavioral parameter that is highly dynamic during odor-guided navigation, affects both behavioral outcome on the intermittency discrimination task and neural representation of intermittency. Together, this work demonstrates that intermittency is an odor plume property that can inform olfactory search and more broadly supports the notion that mammalian odor-based navigation can be guided by temporal odor plume properties.

Odor representations from the two nostrils are temporally segregated in human piriform cortex

The human olfactory system has two discrete channels of sensory input, arising from olfactory epithelia housed in the left and right nostrils. Here, we asked whether the primary olfactory cortex (piriform cortex [PC]) encodes odor information arising from the two nostrils as integrated or distinct stimuli. We recorded intracranial electroencephalogram (iEEG) signals directly from PC while human subjects participated in an odor identification task where odors were delivered to the left, right, or both nostrils. We analyzed the time course of odor identity coding using machine-learning approaches and found that uni-nostril odor inputs to the ipsilateral nostril are encoded ∼480-ms faster than odor inputs to the contralateral nostril on average. During naturalistic bi-nostril odor sampling, odor information emerged in two temporally segregated epochs, with the first epoch corresponding to the ipsilateral and the second epoch corresponding to the contralateral odor representations. These findings reveal that PC maintains distinct representations of odor input from each nostril through temporal segregation, highlighting an olfactory coding scheme at the cortical level that can parse odor information across nostrils within the course of a single inhalation.

Odor representations from the two nostrils are temporally segregated in human piriform cortex

The human olfactory system has two discrete channels of sensory input, arising from olfactory epithelia housed in the left and right nostrils. Here, we asked whether primary olfactory cortex (piriform cortex, PC) encodes odor information arising from the two nostrils as integrated or distinct stimuli. We recorded intracranial EEG signals directly from PC while human subjects participated in an odor identification task where odors were delivered to the left, right, or both nostrils. We analyzed the time-course of odor-identity coding using machine learning approaches, and found that uni-nostril odor inputs to the ipsilateral nostril are encoded ~480 ms faster than odor inputs to the contralateral nostril on average. During naturalistic bi-nostril odor sampling, odor information emerged in two temporally segregated epochs with the first epoch corresponding to the ipsilateral and the second epoch corresponding to the contralateral odor representations. These findings reveal that PC maintains distinct representations of odor input from each nostril through temporal segregation, highlighting an olfactory coding scheme at the cortical level that can parse odor information across nostrils within the course of a single inhalation.

Extracting spatial information from temporal odor patterns: insights from insects

Extracting spatial information from temporal stimulus patterns is essential for sensory perception (e.g. visual motion direction detection or concurrent sound segregation), but this process remains understudied in olfaction. Animals rely on olfaction to locate resources and dangers. In open environments, where odors are dispersed by turbulent wind, detection of wind direction seems crucial for odor source localization. However, recent studies showed that insects can extract spatial information from the odor stimulus itself, independently from sensing wind direction. This remarkable ability is achieved by detecting the fine-scale temporal pattern of odor encounters, which contains information about the location and size of an odor source, and the distance between different odor sources.

Olfactory search with finite-state controllers

Long-range olfactory search is an extremely difficult task in view of the sparsity of odor signals that are available to the searcher and the complex encoding of the information about the source location. Current algorithmic approaches typically require a continuous memory space, sometimes of large dimensionality, which may hamper their optimization and often obscure their interpretation. Here, we show how finite-state controllers with a small set of discrete memory states are expressive enough to display rich, time-extended behavioral modules that resemble the ones observed in living organisms. Finite-state controllers optimized for olfactory search have an immediate interpretation in terms of approximate clocks and coarse-grained spatial maps, suggesting connections with neural models of search behavior.

Olfactory navigation in arthropods

Using odors to find food and mates is one of the most ancient and highly conserved behaviors. Arthropods from flies to moths to crabs use broadly similar strategies to navigate toward odor sources-such as integrating flow information with odor information, comparing odor concentration across sensors, and integrating odor information over time. Because arthropods share many homologous brain structures-antennal lobes for processing olfactory information, mechanosensors for processing flow, mushroom bodies (or hemi-ellipsoid bodies) for associative learning, and central complexes for navigation, it is likely that these closely related behaviors are mediated by conserved neural circuits. However, differences in the types of odors they seek, the physics of odor dispersal, and the physics of locomotion in water, air, and on substrates mean that these circuits must have adapted to generate a wide diversity of odor-seeking behaviors. In this review, we discuss common strategies and specializations observed in olfactory navigation behavior across arthropods, and review our current knowledge about the neural circuits subserving this behavior. We propose that a comparative study of arthropod nervous systems may provide insight into how a set of basic circuit structures has diversified to generate behavior adapted to different environments.