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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.

Associative learning allows animals to use past experience to predict future events. The circuits underlying memory formation support immediate and sustained changes in function, often in response to a single example. Larval Drosophila is a genetic model for memory formation that can be accessed at molecular, synaptic, cellular, and circuit levels, often simultaneously, but existing behavioral assays for larval learning and memory do not address individual animals, and it has been difficult to form long-lasting memories, especially those requiring synaptic reorganization. We demonstrate a new assay for learning and memory capable of tracking the changing preferences of individual larvae. We use this assay to explore how activation of a pair of reward neurons changes the response to the innately aversive gas carbon dioxide (CO2). We confirm that when coupled to CO2 presentation in appropriate temporal sequence, optogenetic reward reduces avoidance of CO2. We find that learning is switch-like: all-or-none and quantized in two states. Memories can be extinguished by repeated unrewarded exposure to CO2 but are stabilized against extinction by repeated training or overnight consolidation. Finally, we demonstrate long-lasting protein synthesis dependent and independent memory formation., eLife digest Brains learn from experience. They take events from the past, link them together, and use them to predict the future. This is true for fruit flies, Drosophila melanogaster, as well as for humans. One of the main questions in the field of neuroscience is, how does this kind of associative learning happen? Fruit fly larvae can learn to associate a certain smell with a sugar reward. When a group of larvae learn to associate a smell with sugar, most but not all of them will approach that smell in the future. This shows associative learning in action, but it raises a big question. Did the larvae that failed to approach the smell fail to learn, or did they just happen to make a mistake finding the smell? Given another chance, would exactly the same larvae approach the smell as the first time? In other words, did all the larvae learn a little, or did some larvae learn completely and others learn nothing? To find out, Lesar et al. built a computer-controlled maze to test whether individual fruit fly larvae liked or avoided a smell. Whenever a larva reached the middle of the Y-shaped maze, it could choose to go down one of two remaining corridors. One corridor contained air and the other carbon dioxide, a gas they would naturally avoid. Lesar et al. taught each larva to like carbon dioxide by activating reward neurons in its brain while filling the maze with carbon dioxide gas. Studying each larva as it navigated the maze revealed that they learn in a single jump, a 'lightbulb moment'. When Lesar et al. activated the reward neurons, the larva either ‘got it’ and stopped avoiding carbon dioxide altogether, or it did not. In the second case, it behaved as if it had received no training at all. Classic and modern experiments on people suggest that humans might also learn in jumps, but research on our own brains is challenging. Fruit flies are an excellent model organism to study memory formation because they are easy to breed, and it is easy to manipulate their genetic code. Work in flies has already revealed many of the genes and cells responsible for learning and memory. But, to find the specific brain changes that explain learning, researchers need to know whether the animals they are examining have actually learned something. This new maze could help researchers to identify those individuals, making it easier to find out exactly how associative learning works.

Animal behavior is shaped both by evolution and by individual experience. In many species parallel brain pathways are thought to encode innate and learnt behavior drives and as a result may link the same sensory cue to different actions if innate and learnt drives are in opposition. How these opposing drives are integrated into a single coherent action is not well understood. In insects, the Mushroom Body Output Neurons (MBONs) and the Lateral Horn Neurons (LHNs) are thought to provide the learnt and innate drives, respectively. However their patterns of convergence and the mechanisms by which their outputs are used to select actions are not well understood. We used electron microscopy reconstruction to comprehensively map the downstream targets of all MBONs in Drosophila larva and characterise their patterns of convergence with LHNs. We discovered convergence neurons that receive direct input from MBONs and LHNs and compare opposite behaviour drives. Functional imaging and optogenetic manipulation suggest these convergence neurons compute the overall predicted value of approaching or avoiding an odor and mediate action selection. Our study describes the circuit mechanisms allowing integration of opposing drives from parallel olfactory pathways.

To integrate changing environmental cues with high spatial and temporal resolution is critical for animals to orient themselves. Drosophila larvae show an effective motor program to navigate away from light sources. How the larval visual circuit processes light stimuli to control navigational decision remains unknown. The larval visual system is composed of two sensory input channels, Rhodopsin5 (Rh5) and Rhodopsin6 (Rh6) expressing photoreceptors (PRs). We here characterize how spatial and temporal information are used to control navigation. Rh6-PRs are required to perceive temporal changes of light intensity during head casts, while Rh5-PRs are required to control behaviors that allow navigation in response to spatial cues. We characterize how distinct behaviors are modulated and identify parallel acting and converging features of the visual circuit. Functional features of the larval visual circuit highlight the principle of how early in a sensory circuit distinct behaviors may be computed by partly overlapping sensory pathways., The response of Drosophila larva to light depends on both spatial and temporal inputs. Here the authors show that Rhodopsin5 photoreceptors, but not Rhodopsin6 photoreceptors, are required for conveying spatial light cues.

International audience; Animals use sensory information to move toward more favorable conditions. Drosophila larvae can move up or down gradients of odors (chemotax), light (phototax), and temperature (thermotax) by modulating the probability, direction, and size of turns based on sensory input. Whether larvae can anemotax in gradients of mechanosensory cues is unknown. Further, although many of the sensory neurons that mediate taxis have been described, the central circuits are not well understood. Here, we used high-throughput, quantitative behavioral assays to demonstrate Drosophila larvae anemotax in gradients of wind speeds and to characterize the behavioral strategies involved. We found that larvae modulate the probability, direction, and size of turns to move away from higher wind speeds. This suggests that similar central decision-making mechanisms underlie taxis in somatosensory and other sensory modalities. By silencing the activity of single or very few neuron types in a behavioral screen, we found two sensory (chordotonal and multidendritic class III) and six nerve cord neuron types involved in anemotaxis. We reconstructed the identified neurons in an electron microscopy volume that spans the entire larval nervous system and found they received direct input from the mechanosensory neurons or from each other. In this way, we identified local interneurons and first- and second-order subesophageal zone (SEZ) and brain projection neurons. Finally, silencing a dopaminergic brain neuron type impairs anemotaxis. These findings suggest that anemotaxis involves both nerve cord and brain circuits. The candidate neurons and circuitry identified in our study provide a basis for future detailed mechanistic understanding of the circuit principles of anemotaxis.

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.

Small animals use sensory information to navigate their environment in order to reach more favorable conditions. in gradients of light, temperature, odors and CO2,Drosophilalarvae alternate periods of runs and turns, regulating the frequency size and direction of turns, to move in a favorable direction. Whether larvae use the same strategies when navigating in response to somatosensory input is unknown. Further, while many of the sensory neurons that mediate navigation behaviors have been described, where and how these navigational strategies are implemented in the central nervous system and controlled by neuronal circuit elements is not well known. Here we characterize for the first time the navigational strategies of Drosophila larvae in gradients of air-current speeds using high-throughput behavioral assays and quantitative behavioral analysis. We find that larvae extend runs towards favorable directions and shorten runs in unfavorable directions, and that larvae regulate both the direction and amplitudes of turns. These results suggest similar central decision-making mechanisms underlie navigation behaviors in somatosensory and other sensory modalities. By silencing the activity of individual neurons and very sparse expression patterns (2 or 3 neuron types), we further identify the sensory neurons and circuit elements in the ventral nerve cord and brain of the larva required for navigational decisions during anemotaxis. The phenotypes of these central neurons are consistent with a mechanism where the increase of the turning rate in unfavorable conditions and decrease in turning rate in favorable conditions are independently controlled. In addition, we find phenotypes that suggest that the decisions of whether and which way to turn are controlled independently. Our study reveals that different neuronal modules in the nerve cord and brain mediate different aspects of navigational decision making. The neurons identified in our screen provide a basis for future detailed mechanistic understanding of the circuit principles of navigational decisionmaking.

SummaryBrain circuits endow behavioral flexibility. Here, we study circuits encoding flexible chemotaxis in C. elegans, where the animal navigates up or down NaCl gradients (positive or negative chemotaxis) to reach the salt concentration of previous growth (the set point). The ASER sensory neuron mediates positive and negative chemotaxis by regulating the frequency and direction of reorientation movements in response to salt gradients. Both salt gradients and set point memory are encoded in ASER temporal activity patterns. Distinct temporal activity patterns in interneurons immediately downstream of ASER encode chemotactic movement decisions. Different interneuron combinations regulate positive versus negative chemotaxis. We conclude that sensorimotor pathways are segregated immediately after the primary sensory neuron in the chemotaxis circuit, and sensory representation is rapidly transformed to motor representation at the first interneuron layer. Our study reveals compact encoding of perception, memory, and locomotion in an experience-dependent navigational behavior in C. elegans.

The nematode Caenorhabditis elegans navigates toward a preferred temperature setpoint (Ts) determined by long-term temperature exposure. During thermotaxis, the worm migrates down temperature gradients at temperatures above Ts (negative thermotaxis) and performs isothermal tracking near Ts. Under some conditions, the worm migrates up temperature gradients below Ts (positive thermotaxis). Here, we analyze positive and negative thermotaxis toward Ts to study the role of specific neurons that have been proposed to be involved in thermotaxis using genetic ablation, behavioral tracking, and calcium imaging. We find differences in the strategies for positive and negative thermotaxis. Negative thermotaxis is achieved through biasing the frequency of reorientation maneuvers (turns and reversal turns) and biasing the direction of reorientation maneuvers toward colder temperatures. Positive thermotaxis, in contrast, biases only the direction of reorientation maneuvers toward warmer temperatures. We find that the AFD thermosensory neuron drives both positive and negative thermotaxis. The AIY interneuron, which is postsynaptic to AFD, may mediate the switch from negative to positive thermotaxis below Ts. We propose that multiple thermotactic behaviors, each defined by a distinct set of sensorimotor transformations, emanate from the AFD thermosensory neurons. AFD learns and stores the memory of preferred temperatures, detects temperature gradients, and drives the appropriate thermotactic behavior in each temperature regime by the flexible use of downstream circuits.

Significance Small animals such as Drosophila provide an opportunity to understand the neural circuitry for complex behaviors from sensory input to motor output without gaps. Here, we define the algorithms for Drosophila larva phototaxis (i.e., the maps between sensory input and motor output) by quantifying the movements of individual animals responding to a battery of illumination conditions. Surprisingly, the distinct rules that define different components of the overall photosensory response begin to segregate at the first synapses after the photoreceptor cells. These results lay the foundation for mapping the circuits for phototaxis in the compact nervous system of the larva by first elucidating the algorithms that define behavior and then mapping these algorithms to specific circuit pathways.

To better understand how organisms make decisions on the basis of temporally varying multi-sensory input, we identified computations made by Drosophila larvae responding to visual and optogenetically induced fictive olfactory stimuli. We modeled the larva's navigational decision to initiate turns as the output of a Linear-Nonlinear-Poisson cascade. We used reverse-correlation to fit parameters to this model; the parameterized model predicted larvae's responses to novel stimulus patterns. For multi-modal inputs, we found that larvae linearly combine olfactory and visual signals upstream of the decision to turn. We verified this prediction by measuring larvae's responses to coordinated changes in odor and light. We studied other navigational decisions and found that larvae integrated odor and light according to the same rule in all cases. These results suggest that photo-taxis and odor-taxis are mediated by a shared computational pathway. DOI: http://dx.doi.org/10.7554/eLife.06229.001, eLife digest Living organisms can sense cues from their surroundings and respond in appropriate ways. For example, animals will often move towards the smell of food or away from potential threats, such as predators. However, it is not fully understood how an animal's nervous system is set up to allow sensory information to control how the animal navigates its environment. It is also not clear how animals ‘decide’ what to do when they receive conflicting information from different senses. Optogenetics is a technique that allows neuroscientists to control the activities of individual nerve cells simply by shining light on to them. Fruit fly larvae have a simple but well-studied nervous system, and they are nearly transparent, so scientists can use optogenetics to activate nerve cells in freely moving larvae. Fruit fly larvae move in a series of forward ‘runs’ and direction-changing ‘turns’ and use sensory cues to decide when to turn, how large of a turn to make, and whether to turn left or right. Gepner, Mihovilovic Skanata et al. used optogenetics to stimulate different combinations of sensory nerve cells in larvae, while tracking the larvae's movements to discover exactly what information they used to make these decisions. An independent study by Hernandez-Nunez et al. also used a similar approach. Fruit fly larvae are attracted towards scents from rotting fruit and are repelled by light—in particular, larvae are most sensitive to blue light but cannot detect red light. Therefore, Gepner, Mihovilovic Skanata et al. could expose the larvae to blue light to activate light-sensing nerve cells as normal, and use red light to activate odor-sensing nerve cells via optogenetics. These experiments showed that larvae changed direction more often when the level of blue light was increased or when the level of red light (which simulated the detection of odors from rotting fruits) was decreased. Analysis of the data from these experiments revealed that larvae essentially assign negative values to the blue light and positive values to the ‘odor-mimicking’ red light. The larvae then use the sum of these two values to dictate their next move. This suggests that navigation in response to both light and odors is supported by the same pathways in a larva's nervous system. The approach of using optogenetics in combination with quantitative analysis, as used in these two independent studies, is now opening the door to a more complete understanding of the connections between the activities of sensory nerve cells and perception and behavior. DOI: http://dx.doi.org/10.7554/eLife.06229.002

Complex animal behaviors are built from dynamical relationships between sensory inputs, neuronal activity, and motor outputs in patterns with strategic value. Connecting these patterns illuminates how nervous systems compute behavior. Here, we study Drosophila larva navigation up temperature gradients toward preferred temperatures (positive thermotaxis). By tracking the movements of animals responding to fixed spatial temperature gradients or random temperature fluctuations, we calculate the sensitivity and dynamics of the conversion of thermosensory inputs into motor responses. We discover three thermosensory neurons in each dorsal organ ganglion (DOG) that are required for positive thermotaxis. Random optogenetic stimulation of the DOG thermosensory neurons evokes behavioral patterns that mimic the response to temperature variations. In vivo calcium and voltage imaging reveals that the DOG thermosensory neurons exhibit activity patterns with sensitivity and dynamics matched to the behavioral response. Temporal processing of temperature variations carried out by the DOG thermosensory neurons emerges in distinct motor responses during thermotaxis.

The ability of an animal to detect, discriminate, and respond to odors depends on the function of its olfactory receptor neurons (ORNs), which in turn depends ultimately on odorant receptors. To understand the diverse mechanisms used by an animal in olfactory coding and computation, it is essential to understand the functional diversity of its odor receptors. The larval olfactory system of Drosophila melanogaster contains 21 ORNs and a comparable number of odorant receptors whose properties have been examined in only a limited way. We systematically screened them with a panel of ∼500 odorants, yielding >10,000 receptor–odorant combinations. We identify for each of 19 receptors an odorant that excites it strongly. The responses elicited by each of these odorants are analyzed in detail. The odorants elicited little cross-activation of other receptors at the test concentration; thus, low concentrations of many of these odorants in nature may be signaled by a single ORN. The receptors differed dramatically in sensitivity to their cognate odorants. The responses showed diverse temporal dynamics, with some odorants eliciting supersustained responses. An intriguing question in the field concerns the roles of different ORNs and receptors in driving behavior. We found that the cognate odorants elicited behavioral responses that varied across a broad range. Some odorants elicited strong physiological responses but weak behavioral responses or weak physiological responses but strong behavioral responses.

SummaryLocomotion requires coordinated motor activity throughout an animal’s body. In both vertebrates and invertebrates, chains of coupled central pattern generators (CPGs) are commonly evoked to explain local rhythmic behaviors. In C. elegans, we report that proprioception within the motor circuit is responsible for propagating and coordinating rhythmic undulatory waves from head to tail during forward movement. Proprioceptive coupling between adjacent body regions transduces rhythmic movement initiated near the head into bending waves driven along the body by a chain of reflexes. Using optogenetics and calcium imaging to manipulate and monitor motor circuit activity of moving C. elegans held in microfluidic devices, we found that the B-type cholinergic motor neurons transduce the proprioceptive signal. In C. elegans, a sensorimotor feedback loop operating within a specific type of motor neuron both drives and organizes body movement.

When placed on a temperature gradient, a Drosophila larva navigates away from excessive cold or heat by regulating the size, frequency, and direction of reorientation maneuvers between successive periods of forward movement. Forward movement is driven by peristalsis waves that travel from tail to head. During each reorientation maneuver, the larva pauses and sweeps its head from side to side until it picks a new direction for forward movement. Here, we characterized the motor programs that underlie the initiation, execution, and completion of reorientation maneuvers by measuring body segment dynamics of freely moving larvae with fluorescent muscle fibers as they were exposed to temporal changes in temperature. We find that reorientation maneuvers are characterized by highly stereotyped spatiotemporal patterns of segment dynamics. Reorientation maneuvers are initiated with head sweeping movement driven by asymmetric contraction of a portion of anterior body segments. The larva attains a new direction for forward movement after head sweeping movement by using peristalsis waves that gradually push posterior body segments out of alignment with the tail (i.e., the previous direction of forward movement) into alignment with the head. Thus, reorientation maneuvers during thermotaxis are carried out by two alternating motor programs: (1) peristalsis for driving forward movement and (2) asymmetric contraction of anterior body segments for driving head sweeping movement.

A mechanistic understanding of animal navigation requires quantitative assessment of the sensorimotor strategies used during navigation and quantitative assessment of how these strategies are regulated by cellular sensors. Here, we examine thermotactic behavior of theDrosophila melanogasterlarva using a tracking microscope to study individual larval movements on defined temperature gradients. We discover that larval thermotaxis involves a larger repertoire of strategies than navigation in smaller organisms such as motile bacteria andCaenorhabditis elegans. Beyond regulating run length (i.e., biasing a random walk), theDrosophila melanogasterlarva also regulates the size and direction of turns to achieve and maintain favorable orientations. Thus, the sharp turns in a larva's trajectory represent decision points for selecting new directions of forward movement. The larva uses the same strategies to move up temperature gradients during positive thermotaxis and to move down temperature gradients during negative thermotaxis. Disrupting positive thermotaxis by inactivating cold-sensitive neurons in the larva's terminal organ weakens all regulation of turning decisions, suggesting that information from one set of temperature sensors is used to regulate all aspects of turning decisions. TheDrosophila melanogasterlarva performs thermotaxis by biasing stochastic turning decisions on the basis of temporal variations in thermosensory input, thereby augmenting the likelihood of heading toward favorable temperatures at all times.