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A unified mechanism for innate and learned visual landmark guidance in the insect central complex

Fig 6

Steering CX model with external control.

The central part of the diagram is similar to the model of EPG to PFL3 connection presented in Fig 5A except the synapse weights are initially set homogeneously (). On each side the model copies the [21] model architecture such that the connection between FBns [red (right FBns) and green (left FBns) cells] and steering neurons (PFL3s, yellow cells) are shifted by one column, in opposite directions on each side. FBns also receive rotatory self-motion information inhibiting inputs [light red (right turns) and green (left turns) lines] for the ipsilateral side, therefore the right FBns are activated during left turns and viceversa. The reward signal (pink) is provided by the sensory pathway indicating goodness-badness of the current sensory input. The modulation of the EPG-PLF3 synapses is under the control of this reward signal and the FBns as shown in the bottom-right inset. The steering command is obtained by comparing the right and left summed activity of the PFL3s after the addition of a gaussian noise (ν = 0;σ = 10) as previously (Fig 5A).

doi: https://doi.org/10.1371/journal.pcbi.1009383.g006