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Animal behavior is shaped both by evolution and by individual experience. Parallel brain pathways encode innate and learned valences of cues, but the way in which they are integrated during action-selection is not well understood. We used electron microscopy to comprehensively map with synaptic resolution all neurons downstream of all mushroom body (MB) output neurons (encoding learned valences) and characterized their patterns of interaction with lateral horn (LH) neurons (encoding innate valences) in Drosophila larva. The connectome revealed multiple convergence neuron types that receive convergent MB and LH inputs. A subset of these receives excitatory input from positive-valence MB and LH pathways and inhibitory input from negative-valence MB pathways. We confirmed functional connectivity from LH and MB pathways and behavioral roles of two of these neurons. These neurons encode integrated odor value and bidirectionally regulate turning. Based on this, we speculate that learning could potentially skew the balance of excitation and inhibition onto these neurons and thereby modulate turning. Together, our study provides insights into the circuits that integrate learned and innate valences to modify behavior.

Sensory systems relay information about the world to the brain, which enacts behaviors through motor outputs. To maximize information transmission, sensory systems discard redundant information through adaptation to the mean and variance of the environment. The behavioral consequences of sensory adaptation to environmental variance have been largely unexplored. Here, we study how larval fruit flies adapt sensory-motor computations underlying navigation to changes in the variance of visual and olfactory inputs. We show that variance adaptation can be characterized by rescaling of the sensory input and that for both visual and olfactory inputs, the temporal dynamics of adaptation are consistent with optimal variance estimation. In multisensory contexts, larvae adapt independently to variance in each sense, and portions of the navigational pathway encoding mixed odor and light signals are also capable of variance adaptation. Our results suggest multiplication as a mechanism for odor-light integration.