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Stimulus reconstruction or decoding methods provide an important tool for understanding how sensory and motor information is represented in neural activity. We discuss Bayesian decoding methods based on an encoding generalized linear model (GLM) that accurately describes how stimuli are transformed into the spike trains of a group of neurons. The form of the GLM likelihood ensures that the posterior distribution over the stimuli that caused an observed set of spike trains is log concave so long as the prior is. This allows the maximum a posteriori (MAP) stimulus estimate to be obtained using efficient optimization algorithms. Unfortunately, the MAP estimate can have a relatively large average error when the posterior is highly nongaussian. Here we compare several Markov chain Monte Carlo (MCMC) algorithms that allow for the calculation of general Bayesian estimators involving posterior expectations (conditional on model parameters). An efficient version of the hybrid Monte Carlo (HMC) algorithm was significantly superior to other MCMC methods for gaussian priors. When the prior distribution has sharp edges and corners, on the other hand, the "hit-and-run" algorithm performed better than other MCMC methods. Using these algorithms, we show that for this latter class of priors, the posterior mean estimate can have a considerably lower average error than MAP, whereas for gaussian priors, the two estimators have roughly equal efficiency. We also address the application of MCMC methods for extracting nonmarginal properties of the posterior distribution. For example, by using MCMC to calculate the mutual information between the stimulus and response, we verify the validity of a computationally efficient Laplace approximation to this quantity for gaussian priors in a wide range of model parameters; this makes direct model-based computation of the mutual information tractable even in the case of large observed neural populations, where methods based on binning the spike train fail. Finally, we consider the effect of uncertainty in the GLM parameters on the posterior estimators.

Fluorescent calcium indicators are becoming increasingly popular as a means for observing the spiking activity of large neuronal populations. Unfortunately, extracting the spike train of each neuron from a raw fluorescence movie is a nontrivial problem. This work presents a fast nonnegative deconvolution filter to infer the approximately most likely spike train of each neuron, given the fluorescence observations. This algorithm outperforms optimal linear deconvolution (Wiener filtering) on both simulated and biological data. The performance gains come from restricting the inferred spike trains to be positive (using an interior-point method), unlike the Wiener filter. The algorithm runs in linear time, and is fast enough that even when simultaneously imaging >100 neurons, inference can be performed on the set of all observed traces faster than real time. Performing optimal spatial filtering on the images further refines the inferred spike train estimates. Importantly, all the parameters required to perform the inference can be estimated using only the fluorescence data, obviating the need to perform joint electrophysiological and imaging calibration experiments.

To understand a neural circuit requires knowledge of its connectivity. Here we report measurements of functional connectivity between the input and ouput layers of the macaque retina at single-cell resolution and the implications of these for colour vision. Multi-electrode technology was used to record simultaneously from complete populations of the retinal ganglion cell types (midget, parasol and small bistratified) that transmit high-resolution visual signals to the brain. Fine-grained visual stimulation was used to identify the location, type and strength of the functional input of each cone photoreceptor to each ganglion cell. The populations of ON and OFF midget and parasol cells each sampled the complete population of long- and middle-wavelength-sensitive cones. However, only OFF midget cells frequently received strong input from short-wavelength-sensitive cones. ON and OFF midget cells showed a small non-random tendency to selectively sample from either long- or middle-wavelength-sensitive cones to a degree not explained by clumping in the cone mosaic. These measurements reveal computations in a neural circuit at the elementary resolution of individual neurons.

A number of important data analysis problems in neuroscience can be solved using state-space models. In this article, we describe fast methods for computing the exact maximum a posteriori (MAP) path of the hidden state variable in these models, given spike train observations. If the state transition density is log-concave and the observation model satisfies certain standard assumptions, then the optimization problem is strictly concave and can be solved rapidly with Newton-Raphson methods, because the Hessian of the loglikelihood is block tridiagonal. We can further exploit this block-tridiagonal structure to develop efficient parameter estimation methods for these models. We describe applications of this approach to neural decoding problems, with a focus on the classic integrate-and-fire model as a key example.

State space methods have proven indispensable in neural data analysis. However, common methods for performing inference in state-space models with non-Gaussian observations rely on certain approximations which are not always accurate. Here we review direct optimization methods that avoid these approximations, but that nonetheless retain the computational efficiency of the approximate methods. We discuss a variety of examples, applying these direct optimization techniques to problems in spike train smoothing, stimulus decoding, parameter estimation, and inference of synaptic properties. Along the way, we point out connections to some related standard statistical methods, including spline smoothing and isotonic regression. Finally, we note that the computational methods reviewed here do not in fact depend on the state-space setting at all; instead, the key property we are exploiting involves the bandedness of certain matrices. We close by discussing some applications of this more general point of view, including Markov chain Monte Carlo methods for neural decoding and efficient estimation of spatially-varying firing rates.

Generalized linear models (GLMs) have been developed for modeling and decoding population neuronal spiking activity in the motor cortex. These models provide reasonable characterizations between neural activity and motor behavior. However, they lack a description of movement-related terms which are not observed directly in these experiments, such as muscular activation, the subject's level of attention, and other internal or external states. Here we propose to include a multi-dimensional hidden state to address these states in a GLM framework where the spike count at each time is described as a function of the hand state (position, velocity, and acceleration), truncated spike history, and the hidden state. The model can be identified by an Expectation-Maximization algorithm. We tested this new method in two datasets where spikes were simultaneously recorded using a multi-electrode array in the primary motor cortex of two monkeys. It was found that this method significantly improves the model-fitting over the classical GLM, for hidden dimensions varying from 1 to 4. This method also provides more accurate decoding of hand state (reducing the mean square error by up to 29% in some cases), while retaining real-time computational efficiency. These improvements on representation and decoding over the classical GLM model suggest that this new approach could contribute as a useful tool to motor cortical decoding and prosthetic applications., (Copyright (c) 2010 Elsevier B.V. All rights reserved.)

Optimal filtering of noisy voltage signals on dendritic trees is a key problem in computational cellular neuroscience. However, the state variable in this problem-the vector of voltages at every compartment-is very high-dimensional: realistic multicompartmental models often have on the order of N = 10(4) compartments. Standard implementations of the Kalman filter require O(N (3)) time and O(N (2)) space, and are therefore impractical. Here we take advantage of three special features of the dendritic filtering problem to construct an efficient filter: (1) dendritic dynamics are governed by a cable equation on a tree, which may be solved using sparse matrix methods in O(N) time; and current methods for observing dendritic voltage (2) provide low SNR observations and (3) only image a relatively small number of compartments at a time. The idea is to approximate the Kalman equations in terms of a low-rank perturbation of the steady-state (zero-SNR) solution, which may be obtained in O(N) time using methods that exploit the sparse tree structure of dendritic dynamics. The resulting methods give a very good approximation to the exact Kalman solution, but only require O(N) time and space. We illustrate the method with applications to real and simulated dendritic branching structures, and describe how to extend the techniques to incorporate spatially subsampled, temporally filtered, and nonlinearly transformed observations.

Estimating two-dimensional firing rate maps is a common problem, arising in a number of contexts: the estimation of place fields in hippocampus, the analysis of temporally nonstationary tuning curves in sensory and motor areas, the estimation of firing rates following spike-triggered covariance analyses, etc. Here we introduce methods based on Gaussian process nonparametric Bayesian techniques for estimating these two-dimensional rate maps. These techniques offer a number of advantages: the estimates may be computed efficiently, come equipped with natural errorbars, adapt their smoothness automatically to the local density and informativeness of the observed data, and permit direct fitting of the model hyperparameters (e.g., the prior smoothness of the rate map) via maximum marginal likelihood. We illustrate the method's flexibility and performance on a variety of simulated and real data.

A major open problem in systems neuroscience is to understand the relationship between behavior and the detailed spiking properties of neural populations. We assess how faithfully velocity information can be decoded from a population of spiking model retinal neurons whose spatiotemporal receptive fields and ensemble spike train dynamics are closely matched to real data. We describe how to compute the optimal Bayesian estimate of image velocity given the population spike train response and show that, in the case of global translation of an image with known intensity profile, on average the spike train ensemble signals speed with a fractional standard deviation of about 2% across a specific set of stimulus conditions. We further show how to compute the Bayesian velocity estimate in the case where we only have some a priori information about the (naturalistic) spatial correlation structure of the image but do not know the image explicitly. As expected, the performance of the Bayesian decoder is shown to be less accurate with decreasing prior image information. There turns out to be a close mathematical connection between a biologically plausible "motion energy" method for decoding the velocity and the Bayesian decoder in the case that the image is not known. Simulations using the motion energy method and the Bayesian decoder with unknown image reveal that they result in fractional standard deviations of 10% and 6%, respectively, across the same set of stimulus conditions. Estimation performance is rather insensitive to the details of the precise receptive field location, correlated activity between cells, and spike timing.

The Kalman filter has been proposed as a model to decode neural activity measured from the motor cortex in order to obtain real-time estimates of hand motion in behavioral neurophysiological experiments. However, currently used linear state-space models underlying the Kalman filter do not take into account other behavioral states such as muscular activity or the subject's level of attention, which are often unobservable during experiments but may play important roles in characterizing neural controlled hand movement. To address this issue, we depict these unknown states as one multidimensional hidden state in the linear state-space framework. This new model assumes that the observed neural firing rate is directly related to this hidden state. The dynamics of the hand state are also allowed to impact the dynamics of the hidden state, and vice versa. The parameters in the model can be identified by a conventional expectation-maximization algorithm. Since this model still uses the linear Gaussian framework, hand-state decoding can be performed by the efficient Kalman filter algorithm. Experimental results show that this new model provides a more appropriate representation of the neural data and generates more accurate decoding. Furthermore, we have used recently developed computationally efficient methods by incorporating a priori information of the targets of the reaching movement. Our results show that the hidden-state model with target-conditioning further improves decoding accuracy.

As recent advances in calcium sensing technologies facilitate simultaneously imaging action potentials in neuronal populations, complementary analytical tools must also be developed to maximize the utility of this experimental paradigm. Although the observations here are fluorescence movies, the signals of interest--spike trains and/or time varying intracellular calcium concentrations--are hidden. Inferring these hidden signals is often problematic due to noise, nonlinearities, slow imaging rate, and unknown biophysical parameters. We overcome these difficulties by developing sequential Monte Carlo methods (particle filters) based on biophysical models of spiking, calcium dynamics, and fluorescence. We show that even in simple cases, the particle filters outperform the optimal linear (i.e., Wiener) filter, both by obtaining better estimates and by providing error bars. We then relax a number of our model assumptions to incorporate nonlinear saturation of the fluorescence signal, as well external stimulus and spike history dependence (e.g., refractoriness) of the spike trains. Using both simulations and in vitro fluorescence observations, we demonstrate temporal superresolution by inferring when within a frame each spike occurs. Furthermore, the model parameters may be estimated using expectation maximization with only a very limited amount of data (e.g., approximately 5-10 s or 5-40 spikes), without the requirement of any simultaneous electrophysiology or imaging experiments.

Signal-to-noise ratios in physical systems can be significantly degraded if the outputs of the systems are highly variable. Biological processes for which highly stereotyped signal generations are necessary features appear to have reduced their signal variabilities by employing multiple processing steps. To better understand why this multistep cascade structure might be desirable, we prove that the reliability of a signal generated by a multistate system with no memory (i.e., a Markov chain) is maximal if and only if the system topology is such that the process steps irreversibly through each state, with transition rates chosen such that an equal fraction of the total signal is generated in each state. Furthermore, our result indicates that by increasing the number of states, it is possible to arbitrarily increase the reliability of the system. In a physical system, however, an energy cost is associated with maintaining irreversible transitions, and this cost increases with the number of such transitions (i.e., the number of states). Thus, an infinite-length chain, which would be perfectly reliable, is infeasible. To model the effects of energy demands on the maximally reliable solution, we numerically optimize the topology under two distinct energy functions that penalize either irreversible transitions or incommunicability between states, respectively. In both cases, the solutions are essentially irreversible linear chains, but with upper bounds on the number of states set by the amount of available energy. We therefore conclude that a physical system for which signal reliability is important should employ a linear architecture, with the number of states (and thus the reliability) determined by the intrinsic energy constraints of the system.

Biophysically detailed models of single cells are difficult to fit to real data. Recent advances in imaging techniques allow simultaneous access to various intracellular variables, and these data can be used to significantly facilitate the modelling task. These data, however, are noisy, and current approaches to building biophysically detailed models are not designed to deal with this. We extend previous techniques to take the noisy nature of the measurements into account. Sequential Monte Carlo ("particle filtering") methods, in combination with a detailed biophysical description of a cell, are used for principled, model-based smoothing of noisy recording data. We also provide an alternative formulation of smoothing where the neural nonlinearities are estimated in a non-parametric manner. Biophysically important parameters of detailed models (such as channel densities, intercompartmental conductances, input resistances, and observation noise) are inferred automatically from noisy data via expectation-maximization. Overall, we find that model-based smoothing is a powerful, robust technique for smoothing of noisy biophysical data and for inference of biophysical parameters in the face of recording noise.

There has recently been a great deal of interest in inferring network connectivity from the spike trains in populations of neurons. One class of useful models that can be fit easily to spiking data is based on generalized linear point process models from statistics. Once the parameters for these models are fit, the analyst is left with a nonlinear spiking network model with delays, which in general may be very difficult to understand analytically. Here we develop mean-field methods for approximating the stimulus-driven firing rates (in both the time-varying and steady-state cases), auto- and cross-correlations, and stimulus-dependent filtering properties of these networks. These approximations are valid when the contributions of individual network coupling terms are small and, hence, the total input to a neuron is approximately gaussian. These approximations lead to deterministic ordinary differential equations that are much easier to solve and analyze than direct Monte Carlo simulation of the network activity. These approximations also provide an analytical way to evaluate the linear input-output filter of neurons and how the filters are modulated by network interactions and some stimulus feature. Finally, in the case of strong refractory effects, the mean-field approximations in the generalized linear model become inaccurate; therefore, we introduce a model that captures strong refractoriness, retains all of the easy fitting properties of the standard generalized linear model, and leads to much more accurate approximations of mean firing rates and cross-correlations that retain fine temporal behaviors.

Adaptively optimizing experiments has the potential to significantly reduce the number of trials needed to build parametric statistical models of neural systems. However, application of adaptive methods to neurophysiology has been limited by severe computational challenges. Since most neurons are high-dimensional systems, optimizing neurophysiology experiments requires computing high-dimensional integrations and optimizations in real time. Here we present a fast algorithm for choosing the most informative stimulus by maximizing the mutual information between the data and the unknown parameters of a generalized linear model (GLM) that we want to fit to the neuron's activity. We rely on important log concavity and asymptotic normality properties of the posterior to facilitate the required computations. Our algorithm requires only low-rank matrix manipulations and a two-dimensional search to choose the optimal stimulus. The average running time of these operations scales quadratically with the dimensionality of the GLM, making real-time adaptive experimental design feasible even for high-dimensional stimulus and parameter spaces. For example, we require roughly 10 milliseconds on a desktop computer to optimize a 100-dimensional stimulus. Despite using some approximations to make the algorithm efficient, our algorithm asymptotically decreases the uncertainty about the model parameters at a rate equal to the maximum rate predicted by an asymptotic analysis. Simulation results show that picking stimuli by maximizing the mutual information can speed up convergence to the optimal values of the parameters by an order of magnitude compared to using random (nonadaptive) stimuli. Finally, applying our design procedure to real neurophysiology experiments requires addressing the nonstationarities that we would expect to see in neural responses; our algorithm can efficiently handle both fast adaptation due to spike history effects and slow, nonsystematic drifts in a neuron's activity.

Statistical dependencies in the responses of sensory neurons govern both the amount of stimulus information conveyed and the means by which downstream neurons can extract it. Although a variety of measurements indicate the existence of such dependencies, their origin and importance for neural coding are poorly understood. Here we analyse the functional significance of correlated firing in a complete population of macaque parasol retinal ganglion cells using a model of multi-neuron spike responses. The model, with parameters fit directly to physiological data, simultaneously captures both the stimulus dependence and detailed spatio-temporal correlations in population responses, and provides two insights into the structure of the neural code. First, neural encoding at the population level is less noisy than one would expect from the variability of individual neurons: spike times are more precise, and can be predicted more accurately when the spiking of neighbouring neurons is taken into account. Second, correlations provide additional sensory information: optimal, model-based decoding that exploits the response correlation structure extracts 20% more information about the visual scene than decoding under the assumption of independence, and preserves 40% more visual information than optimal linear decoding. This model-based approach reveals the role of correlated activity in the retinal coding of visual stimuli, and provides a general framework for understanding the importance of correlated activity in populations of neurons.

We recently introduced likelihood-based methods for fitting stochastic integrate-and-fire models to spike train data. The key component of this method involves the likelihood that the model will emit a spike at a given time t. Computing this likelihood is equivalent to computing a Markov first passage time density (the probability that the model voltage crosses threshold for the first time at time t). Here we detail an improved method for computing this likelihood, based on solving a certain integral equation. This integral equation method has several advantages over the techniques discussed in our previous work: in particular, the new method has fewer free parameters and is easily differentiable (for gradient computations). The new method is also easily adaptable for the case in which the model conductance, not just the input current, is time-varying. Finally, we describe how to incorporate large deviations approximations to very small likelihoods.

We describe a class of models that predict how the instantaneous firing rate of a neuron depends on a dynamic stimulus. The models utilize a learnt pointwise nonlinear transform of the stimulus, followed by a linear filter that acts on the sequence of transformed inputs. In one case, the nonlinear transform is the same at all filter lag-times. Thus, this "input nonlinearity" converts the initial numerical representation of stimulus value to a new representation that provides optimal input to the subsequent linear model. We describe algorithms that estimate both the input nonlinearity and the linear weights simultaneously; and present techniques to regularise and quantify uncertainty in the estimates. In a second approach, the model is generalized to allow a different nonlinear transform of the stimulus value at each lag-time. Although more general, this model is algorithmically more straightforward to fit. However, it has many more degrees of freedom than the first approach, thus requiring more data for accurate estimation. We test the feasibility of these methods on synthetic data, and on responses from a neuron in rodent barrel cortex. The models are shown to predict responses to novel data accurately, and to recover several important neuronal response properties.

Recent developments in multi-electrode recordings enable the simultaneous measurement of the spiking activity of many neurons. Analysis of such multineuronal data is one of the key challenge in computational neuroscience today. In this work, we develop a multivariate point-process model in which the observed activity of a network of neurons depends on three terms: (1) the experimentally-controlled stimulus; (2) the spiking history of the observed neurons; and (3) a hidden term that corresponds, for example, to common input from an unobserved population of neurons that is presynaptic to two or more cells in the observed population. We consider two models for the network firing-rates, one of which is computationally and analytically tractable but can lead to unrealistically high firing-rates, while the other with reasonable firing-rates imposes a greater computational burden. We develop an expectation-maximization algorithm for fitting the parameters of both the models. For the analytically tractable model the expectation step is based on a continuous-time implementation of the extended Kalman smoother, and the maximization step involves two concave maximization problems which may be solved in parallel. The other model that we consider necessitates the use of Monte Carlo methods for the expectation as well as maximization step. We discuss the trade-off involved in choosing between the two models and the associated methods. The techniques developed allow us to solve a variety of inference problems in a straightforward, computationally efficient fashion; for example, we may use the model to predict network activity given an arbitrary stimulus, infer a neuron's ring rate given the stimulus and the activity of the other observed neurons, and perform optimal stimulus decoding and prediction. We present several detailed simulation studies which explore the strengths and limitations of our approach.

There are two basic problems in the statistical analysis of neural data. The "encoding" problem concerns how information is encoded in neural spike trains: can we predict the spike trains of a neuron (or population of neurons), given an arbitrary stimulus or observed motor response? Conversely, the "decoding" problem concerns how much information is in a spike train, in particular, how well can we estimate the stimulus that gave rise to the spike train? This chapter describes statistical model-based techniques that in some cases provide a unified solution to these two coding problems. These models can capture stimulus dependencies as well as spike history and interneuronal interaction effects in population spike trains, and are intimately related to biophysically based models of integrate-and-fire type. We describe flexible, powerful likelihood-based methods for fitting these encoding models and then for using the models to perform optimal decoding. Each of these (apparently quite difficult) tasks turn out to be highly computationally tractable, due to a key concavity property of the model likelihood. Finally, we return to the encoding problem to describe how to use these models to adaptively optimize the stimuli presented to the cell on a trial-by-trial basis, in order that we may infer the optimal model parameters as efficiently as possible.

The activity of neurons in primary motor cortex (M1) and cerebellum is known to correlate with extrinsic movement parameters, including hand position and velocity. Relatively few studies have addressed the encoding of intrinsic parameters, such as muscle activity. Here we applied a generalized regression analysis to describe the relationship of neurons in M1 and cerebellar dentate nucleus to electromyographic (EMG) activity from hand and forearm muscles, during performance of precision grip by macaque monkeys. We showed that cells in both M1 and dentate encode muscle activity in a linear fashion, and that EMG signals provide predictions of neural discharge that are equally accurate to those from kinematic information under these task conditions. Neural activity in M1 was significantly more correlated with both EMG and kinematic signals than was activity in dentate nucleus. Furthermore, the analysis enabled us to look at the temporal properties of muscle encoding. Cells were broadly tuned to muscle activity as a function of the lag between spiking and EMG and there was considerable heterogeneity in the optimal delay among individual neurons. However, a single lag (40 ms) was generally sufficient to provide good fits. Finally, incorporating spike history effects in our model offered no advantage in predicting novel spike trains, reinforcing the simple nature of the muscle encoding that we observed here.

We compute the exact spike-triggered average (STA) of the voltage for the nonleaky integrate-and-fire (IF) cell in continuous time, driven by gaussian white noise. The computation is based on techniques from the theory of renewal processes and continuous-time hidden Markov processes (e.g., the backward and forward Fokker-Planck partial differential equations associated with first-passage time densities). From the STA voltage, it is straightforward to derive the STA input current. The theory also gives an explicit asymptotic approximation for the STA of the leaky IF cell, valid in the low-noise regime sigma --> 0. We consider both the STA and the conditional average voltage given an observed spike "doublet" event, that is, two spikes separated by some fixed period of silence. In each case, we find that the STA as a function of time-preceding-spike, tau, has a square root singularity as tau approaches zero from below and scales linearly with the scale of injected noise current. We close by briefly examining the discrete-time case, where similar phenomena are observed.

Biophysically accurate multicompartmental models of individual neurons have significantly advanced our understanding of the input-output function of single cells. These models depend on a large number of parameters that are difficult to estimate. In practice, they are often hand-tuned to match measured physiological behaviors, thus raising questions of identifiability and interpretability. We propose a statistical approach to the automatic estimation of various biologically relevant parameters, including 1) the distribution of channel densities, 2) the spatiotemporal pattern of synaptic input, and 3) axial resistances across extended dendrites. Recent experimental advances, notably in voltage-sensitive imaging, motivate us to assume access to: i) the spatiotemporal voltage signal in the dendrite and ii) an approximate description of the channel kinetics of interest. We show here that, given i and ii, parameters 1-3 can be inferred simultaneously by nonnegative linear regression; that this optimization problem possesses a unique solution and is guaranteed to converge despite the large number of parameters and their complex nonlinear interaction; and that standard optimization algorithms efficiently reach this optimum with modest computational and data requirements. We demonstrate that the method leads to accurate estimations on a wide variety of challenging model data sets that include up to about 10(4) parameters (roughly two orders of magnitude more than previously feasible) and describe how the method gives insights into the functional interaction of groups of channels.

We develop theory and numerical methods for computing the most likely subthreshold voltage path of a noisy integrate-and-fire (IF) neuron, given observations of the neuron's superthreshold spiking activity. This optimal voltage path satisfies a second-order ordinary differential (Euler-Lagrange) equation which may be solved analytically in a number of special cases, and which may be solved numerically in general via a simple "shooting" algorithm. Our results are applicable for both linear and nonlinear subthreshold dynamics, and in certain cases may be extended to correlated subthreshold noise sources. We also show how this optimal voltage may be used to obtain approximations to (1) the likelihood that an IF cell with a given set of parameters was responsible for the observed spike train; and (2) the instantaneous firing rate and interspike interval distribution of a given noisy IF cell. The latter probability approximations are based on the classical Freidlin-Wentzell theory of large deviations principles for stochastic differential equations. We close by comparing this most likely voltage path to the true observed subthreshold voltage trace in a case when intracellular voltage recordings are available in vitro.

We apply an adaptive approach to optimal experimental design in the context of estimating the unknown parameters of a model of a neuron's response. We present an algorithm to choose the optimal (most informative) stimulus on each trial; this algorithm can be implemented efficiently even for high-dimensional stimulus and parameter spaces (in particular, no high-dimensional numerical optimizations or integrations are required). Our simulation results show that model parameters can be estimated much more efficiently using this adaptive algorithm rather than random sampling. We also show that this adaptive approach leads to superior performance in the case that the model parameters are nonstationary, as would be expected in real experiments.

Sensory encoding in spiking neurons depends on both the integration of sensory inputs and the intrinsic dynamics and variability of spike generation. We show that the stimulus selectivity, reliability, and timing precision of primate retinal ganglion cell (RGC) light responses can be reproduced accurately with a simple model consisting of a leaky integrate-and-fire spike generator driven by a linearly filtered stimulus, a postspike current, and a Gaussian noise current. We fit model parameters for individual RGCs by maximizing the likelihood of observed spike responses to a stochastic visual stimulus. Although compact, the fitted model predicts the detailed time structure of responses to novel stimuli, accurately capturing the interaction between the spiking history and sensory stimulus selectivity. The model also accounts for the variability in responses to repeated stimuli, even when fit to data from a single (nonrepeating) stimulus sequence. Finally, the model can be used to derive an explicit, maximum-likelihood decoding rule for neural spike trains, thus providing a tool for assessing the limitations that spiking variability imposes on sensory performance.

We discuss an idea for collecting data in a relatively efficient manner. Our point of view is Bayesian and information-theoretic: on any given trial, we want to adaptively choose the input in such a way that the mutual information between the (unknown) state of the system and the (stochastic) output is maximal, given any prior information (including data collected on any previous trials). We prove a theorem that quantifies the effectiveness of this strategy and give a few illustrative examples comparing the performance of this adaptive technique to that of the more usual nonadaptive experimental design. In particular, we calculate the asymptotic efficiency of the information-maximization strategy and demonstrate that this method is in a well-defined sense never less efficient--and is generically more efficient--than the nonadaptive strategy. For example, we are able to explicitly calculate the asymptotic relative efficiency of the staircase method widely employed in psychophysics research and to demonstrate the dependence of this efficiency on the form of the psychometric function underlying the output responses.

We examine a cascade encoding model for neural response in which a linear filtering stage is followed by a noisy, leaky, integrate-and-fire spike generation mechanism. This model provides a biophysically more realistic alternative to models based on Poisson (memoryless) spike generation, and can effectively reproduce a variety of spiking behaviors seen in vivo. We describe the maximum likelihood estimator for the model parameters, given only extracellular spike train responses (not intracellular voltage data). Specifically, we prove that the log-likelihood function is concave and thus has an essentially unique global maximum that can be found using gradient ascent techniques. We develop an efficient algorithm for computing the maximum likelihood solution, demonstrate the effectiveness of the resulting estimator with numerical simulations, and discuss a method of testing the model's validity using time-rescaling and density evolution techniques.

Recent work has examined the estimation of models of stimulus-driven neural activity in which some linear filtering process is followed by a nonlinear, probabilistic spiking stage. We analyze the estimation of one such model for which this nonlinear step is implemented by a known parametric function; the assumption that this function is known speeds the estimation process considerably. We investigate the shape of the likelihood function for this type of model, give a simple condition on the nonlinearity ensuring that no non-global local maxima exist in the likelihood-leading, in turn, to efficient algorithms for the computation of the maximum likelihood estimator-and discuss the implications for the form of the allowed nonlinearities. Finally, we note some interesting connections between the likelihood-based estimators and the classical spike-triggered average estimator, discuss some useful extensions of the basic model structure, and provide two novel applications to physiological data.

Neural activity in primary motor cortex (MI) is known to correlate with hand position and velocity. Previous descriptions of this tuning have (1) been linear in position or velocity, (2) depended only instantaneously on these signals, and/or (3) not incorporated the effects of interneuronal dependencies on firing rate. We show here that many MI cells encode a superlinear function of the full time-varying hand trajectory. Approximately 20% of MI cells carry information in the hand trajectory beyond just the position, velocity, and acceleration at a single time lag. Moreover, approximately one-third of MI cells encode the trajectory in a significantly superlinear manner; as one consequence, even small position changes can dramatically modulate the gain of the velocity tuning of MI cells, in agreement with recent psychophysical evidence. We introduce a compact nonlinear "preferred trajectory" model that predicts the complex structure of the spatiotemporal tuning functions described in previous work. Finally, observing the activity of neighboring cells in the MI network significantly increases the predictability of the firing rate of a single MI cell; however, we find interneuronal dependencies in MI to be much more locked to external kinematic parameters than those described recently in the hippocampus. Nevertheless, this neighbor activity is approximately as informative as the hand velocity, supporting the view that neural encoding in MI is best understood at a population level.

A pursuit-tracking task (PTT) and multielectrode recordings were used to investigate the spatiotemporal encoding of hand position and velocity in primate primary motor cortex (MI). Continuous tracking of a randomly moving visual stimulus provided a broad sample of velocity and position space, reduced statistical dependencies between kinematic variables, and minimized the nonstationarities that are found in typical "step-tracking" tasks. These statistical features permitted the application of signal-processing and information-theoretic tools for the analysis of neural encoding. The multielectrode method allowed for the comparison of tuning functions among simultaneously recorded cells. During tracking, MI neurons showed heterogeneity of position and velocity coding, with markedly different temporal dynamics for each. Velocity-tuned neurons were approximately sinusoidally tuned for direction, with linear speed scaling; other cells showed sinusoidal tuning for position, with linear scaling by distance. Velocity encoding led behavior by about 100 ms for most cells, whereas position tuning was more broadly distributed, with leads and lags suggestive of both feedforward and feedback coding. Individual cells encoded velocity and position weakly, with comparable amounts of information about each. Linear regression methods confirmed that random, 2-D hand trajectories can be reconstructed from the firing of small ensembles of randomly selected neurons (3-19 cells) within the MI arm area. These findings demonstrate that MI carries information about evolving hand trajectory during visually guided pursuit tracking, including information about arm position both during and after its specification. However, the reconstruction methods used here capture only the low-frequency components of movement during the PTT. Hand motion signals appear to be represented as a distributed code in which diverse information about position and velocity is available within small regions of MI.

We analyse the convergence properties of three spike-triggered data analysis techniques. Our results are obtained in the setting of a probabilistic linear-nonlinear (LN) cascade neural encoding model; this model has recently become popular in the study of the neural coding of natural signals. We start by giving exact rate-of-convergence results for the common spike-triggered average technique. Next, we analyse a spike-triggered covariance method, variants of which have been recently exploited successfully by Bialek, Simoncelli and colleagues. Unfortunately, the conditions that guarantee that these two estimators will converge to the correct parameters are typically not satisfied by natural signal data. Therefore, we introduce an estimator for the LN model parameters which is designed to converge under general conditions to the correct model. We derive the rate of convergence of this estimator, provide an algorithm for its computation and demonstrate its application to simulated data as well as physiological data from the primary motor cortex of awake behaving monkeys. We also give lower bounds on the convergence rate of any possible LN estimator. Our results should prove useful in the study of the neural coding of high-dimensional natural signals.

We tested the hypothesis that sequential movements are represented in the correlated activity of motor cortical neurons. We simultaneously recorded multiple single neurons in the motor cortex while monkeys performed a two-segment movement sequence. Before any movement began the correlated spike firing between pairs of neurons differed when these sequences were planned as whole (planned) as compared to when they were planned one segment at a time (unplanned) even when the firing rates of these neurons did not distinguish between the two conditions. Moreover, the correlation strength was significantly larger when the directional preferences of the neurons matched the direction of the final segment of the sequence. Our results suggest that spatially distributed groups of MI neurons form dynamic correlation structures that distinguish different forms of sequential action.

We assessed the ability of two algorithms to predict hand kinematics from neural activity as a function of the amount of data used to determine the algorithm parameters. Using chronically implanted intracortical arrays, single- and multineuron discharge was recorded during trained step tracking and slow continuous tracking tasks in macaque monkeys. The effect of increasing the amount of data used to build a neural decoding model on the ability of that model to predict hand kinematics accurately was examined. We evaluated how well a maximum-likelihood model classified discrete reaching directions and how well a linear filter model reconstructed continuous hand positions over time within and across days. For each of these two models we asked two questions: (1) How does classification performance change as the amount of data the model is built upon increases? (2) How does varying the time interval between the data used to build the model and the data used to test the model affect reconstruction? Less than 1 min of data for the discrete task (8 to 13 neurons) and less than 3 min (8 to 18 neurons) for the continuous task were required to build optimal models. Optimal performance was defined by a cost function we derived that reflects both the ability of the model to predict kinematics accurately and the cost of taking more time to build such models. For both the maximum-likelihood classifier and the linear filter model, increasing the duration between the time of building and testing the model within a day did not cause any significant trend of degradation or improvement in performance. Linear filters built on one day and tested on neural data on a subsequent day generated error-measure distributions that were not significantly different from those generated when the linear filters were tested on neural data from the initial day (p<0.05, Kolmogorov-Smirnov test). These data show that only a small amount of data from a limited number of cortical neurons appears to be necessary to construct robust models to predict kinematic parameters for the subsequent hours. Motor-control signals derived from neurons in motor cortex can be reliably acquired for use in neural prosthetic devices. Adequate decoding models can be built rapidly from small numbers of cells and maintained with daily calibration sessions.

The activity of motor cortex (MI) neurons conveys movement intent sufficiently well to be used as a control signal to operate artificial devices, but until now this has called for extensive training or has been confined to a limited movement repertoire. Here we show how activity from a few (7-30) MI neurons can be decoded into a signal that a monkey is able to use immediately to move a computer cursor to any new position in its workspace (14 degrees x 14 degrees visual angle). Our results, which are based on recordings made by an electrode array that is suitable for human use, indicate that neurally based control of movement may eventually be feasible in paralysed humans.

Although neuronal synchronization has been shown to exist in primary motor cortex (MI), very little is known about its possible contribution to coding of movement. By using cross-correlation techniques from multi-neuron recordings in MI, we observed that activity of neurons commonly synchronized around the time of movement initiation. For some cell pairs, synchrony varied with direction in a manner not readily predicted by the firing of either neuron. Information theoretic analysis demonstrated quantitatively that synchrony provides information about movement direction beyond that expected by simple rate changes. Thus, MI neurons are not simply independent encoders of movement parameters but rather engage in mutual interactions that could potentially provide an additional coding dimension in cortex.