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38 Publications

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    03/14/24 | Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning
    Roman Vaxenburg , Igor Siwanowicz , Josh Merel , Alice A Robie , Carmen Morrow , Guido Novati , Zinovia Stefanidi , Gwyneth M Card , Michael B Reiser , Matthew M Botvinick , Kristin M Branson , Yuval Tassa , Srinivas C Turaga
    bioRxiv. 2024-03-14:. doi: 10.1101/2024.03.11.584515

    The body of an animal determines how the nervous system produces behavior. Therefore, detailed modeling of the neural control of sensorimotor behavior requires a detailed model of the body. Here we contribute an anatomically-detailed biomechanical whole-body model of the fruit fly Drosophila melanogaster in the MuJoCo physics engine. Our model is general-purpose, enabling the simulation of diverse fly behaviors, both on land and in the air. We demonstrate the generality of our model by simulating realistic locomotion, both flight and walking. To support these behaviors, we have extended MuJoCo with phenomenological models of fluid forces and adhesion forces. Through data-driven end-to-end reinforcement learning, we demonstrate that these advances enable the training of neural network controllers capable of realistic locomotion along complex trajectories based on high-level steering control signals. With a visually guided flight task, we demonstrate a neural controller that can use the vision sensors of the body model to control and steer flight. Our project is an open-source platform for modeling neural control of sensorimotor behavior in an embodied context.Competing Interest StatementThe authors have declared no competing interest.

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    Card Lab
    02/13/24 | Organization of an ascending circuit that conveys flight motor state in Drosophila.
    Cheong HS, Boone KN, Bennett MM, Salman F, Ralston JD, Hatch K, Allen RF, Phelps AM, Cook AP, Phelps JS, Erginkaya M, Lee WA, Card GM, Daly KC, Dacks AM
    Current Biology. 2024 Feb 13:. doi: 10.1016/j.cub.2024.01.071

    Natural behaviors are a coordinated symphony of motor acts that drive reafferent (self-induced) sensory activation. Individual sensors cannot disambiguate exafferent (externally induced) from reafferent sources. Nevertheless, animals readily differentiate between these sources of sensory signals to carry out adaptive behaviors through corollary discharge circuits (CDCs), which provide predictive motor signals from motor pathways to sensory processing and other motor pathways. Yet, how CDCs comprehensively integrate into the nervous system remains unexplored. Here, we use connectomics, neuroanatomical, physiological, and behavioral approaches to resolve the network architecture of two pairs of ascending histaminergic neurons (AHNs) in Drosophila, which function as a predictive CDC in other insects. Both AHN pairs receive input primarily from a partially overlapping population of descending neurons, especially from DNg02, which controls wing motor output. Using Ca imaging and behavioral recordings, we show that AHN activation is correlated to flight behavior and precedes wing motion. Optogenetic activation of DNg02 is sufficient to activate AHNs, indicating that AHNs are activated by descending commands in advance of behavior and not as a consequence of sensory input. Downstream, each AHN pair targets predominantly non-overlapping networks, including those that process visual, auditory, and mechanosensory information, as well as networks controlling wing, haltere, and leg sensorimotor control. These results support the conclusion that the AHNs provide a predictive motor signal about wing motor state to mostly non-overlapping sensory and motor networks. Future work will determine how AHN signaling is driven by other descending neurons and interpreted by AHN downstream targets to maintain adaptive sensorimotor performance.

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    06/09/23 | Organization of an Ascending Circuit that Conveys Flight Motor State
    Han S. J. Cheong , Kaitlyn N. Boone , Marryn M. Bennett , Farzaan Salman , Jacob D. Ralston , Kaleb Hatch , Raven F. Allen , Alec M. Phelps , Andrew P. Cook , Jasper S. Phelps , Mert Erginkaya , Wei-Chung A. Lee , Gwyneth M. Card , Kevin C. Daly , Andrew M. Dacks
    bioRxiv. 2023 Jun 09:. doi: 10.1101/2023.06.07.544074

    Natural behaviors are a coordinated symphony of motor acts which drive self-induced or reafferent sensory activation. Single sensors only signal presence and magnitude of a sensory cue; they cannot disambiguate exafferent (externally-induced) from reafferent sources. Nevertheless, animals readily differentiate between these sources of sensory signals to make appropriate decisions and initiate adaptive behavioral outcomes. This is mediated by predictive motor signaling mechanisms, which emanate from motor control pathways to sensory processing pathways, but how predictive motor signaling circuits function at the cellular and synaptic level is poorly understood. We use a variety of techniques, including connectomics from both male and female electron microscopy volumes, transcriptomics, neuroanatomical, physiological and behavioral approaches to resolve the network architecture of two pairs of ascending histaminergic neurons (AHNs), which putatively provide predictive motor signals to several sensory and motor neuropil. Both AHN pairs receive input primarily from an overlapping population of descending neurons, many of which drive wing motor output. The two AHN pairs target almost exclusively non-overlapping downstream neural networks including those that process visual, auditory and mechanosensory information as well as networks coordinating wing, haltere, and leg motor output. These results support the conclusion that the AHN pairs multi-task, integrating a large amount of common input, then tile their output in the brain, providing predictive motor signals to non-overlapping sensory networks affecting motor control both directly and indirectly.

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    Card LabFlyEM
    06/07/23 | Transforming descending input into behavior: The organization of premotor circuits in the Drosophila Male Adult Nerve Cord connectome
    H. S. J. Cheong , K. Eichler , T. Stuerner , S. K. Asinof , A. S. Champion , E. C. Marin , T. B. Oram , M. Sumathipala , L. Venkatasubramanian , S. Namiki , I. Siwanowicz , M. Costa , S. Berg , Janelia FlyEM Project Team , G. S. X. E. Jefferis , G. M. Card
    bioRxiv. 2023 Jun 07:. doi: 10.1101/2023.06.07.543976

    In most animals, a relatively small number of descending neurons (DNs) connect higher brain centers in the animal’s head to motor neurons (MNs) in the nerve cord of the animal’s body that effect movement of the limbs. To understand how brain signals generate behavior, it is critical to understand how these descending pathways are organized onto the body MNs. In the fly, Drosophila melanogaster, MNs controlling muscles in the leg, wing, and other motor systems reside in a ventral nerve cord (VNC), analogous to the mammalian spinal cord. In companion papers, we introduced a densely-reconstructed connectome of the Drosophila Male Adult Nerve Cord (MANC, Takemura et al., 2023), including cell type and developmental lineage annotation (Marin et al., 2023), which provides complete VNC connectivity at synaptic resolution. Here, we present a first look at the organization of the VNC networks connecting DNs to MNs based on this new connectome information. We proofread and curated all DNs and MNs to ensure accuracy and reliability, then systematically matched DN axon terminals and MN dendrites with light microscopy data to link their VNC morphology with their brain inputs or muscle targets. We report both broad organizational patterns of the entire network and fine-scale analysis of selected circuits of interest. We discover that direct DN-MN connections are infrequent and identify communities of intrinsic neurons linked to control of different motor systems, including putative ventral circuits for walking, dorsal circuits for flight steering and power generation, and intermediate circuits in the lower tectulum for coordinated action of wings and legs. Our analysis generates hypotheses for future functional experiments and, together with the MANC connectome, empowers others to investigate these and other circuits of the Drosophila ventral nerve cord in richer mechanistic detail.

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    06/06/23 | A Connectome of the Male Drosophila Ventral Nerve Cord
    Shin-ya Takemura , Kenneth J Hayworth , Gary B Huang , Michal Januszewski , Zhiyuan Lu , Elizabeth C Marin , Stephan Preibisch , C Shan Xu , John Bogovic , Andrew S Champion , Han S J Cheong , Marta Costa , Katharina Eichler , William Katz , Christopher Knecht , Feng Li , Billy J Morris , Christopher Ordish , Patricia K Rivlin , Philipp Schlegel , Kazunori Shinomiya , Tomke Sturner , Ting Zhao , Griffin Badalamente , Dennis Bailey , Paul Brooks , Brandon S Canino , Jody Clements , Michael Cook , Octave Duclos , Christopher R Dunne , Kelli Fairbanks , Siqi Fang , Samantha Finley-May , Audrey Francis , Reed George , Marina Gkantia , Kyle Harrington , Gary Patrick Hopkins , Joseph Hsu , Philip M Hubbard , Alexandre Javier , Dagmar Kainmueller , Wyatt Korff , Julie Kovalyak , Dominik Krzeminski , Shirley A Lauchie , Alanna Lohff , Charli Maldonado , Emily A Manley , Caroline Mooney , Erika Neace , Matthew Nichols , Omotara Ogundeyi , Nneoma Okeoma , Tyler Paterson , Elliott Phillips , Emily M Phillips , Caitlin Ribeiro , Sean M Ryan , Jon Thomson Rymer , Anne K Scott , Ashley L Scott , David Shepherd , Aya Shinomiya , Claire Smith , Alia Suleiman , Satoko Takemura , Iris Talebi , Imaan F M Tamimi , Eric T Trautman , Lowell Umayam , John J Walsh , Tansy Yang , Gerald M Rubin , Louis K Scheffer , Jan Funke , Stephan Saalfeld , Harald F Hess , Stephen M Plaza , Gwyneth M Card , Gregory S X E Jefferis , Stuart Berg
    bioRxiv. 2023 Jun 06:. doi: 10.1101/2023.06.05.543757

    Animal behavior is principally expressed through neural control of muscles. Therefore understanding how the brain controls behavior requires mapping neuronal circuits all the way to motor neurons. We have previously established technology to collect large-volume electron microscopy data sets of neural tissue and fully reconstruct the morphology of the neurons and their chemical synaptic connections throughout the volume. Using these tools we generated a dense wiring diagram, or connectome, for a large portion of the Drosophila central brain. However, in most animals, including the fly, the majority of motor neurons are located outside the brain in a neural center closer to the body, i.e. the mammalian spinal cord or insect ventral nerve cord (VNC). In this paper, we extend our effort to map full neural circuits for behavior by generating a connectome of the VNC of a male fly.

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    Card LabFlyEM
    06/06/23 | Systematic annotation of a complete adult male Drosophila nerve cord connectome reveals principles of functional organisation
    Elizabeth C Marin , Billy J Morris , Tomke Stuerner , Andrew S Champion , Dominik Krzeminski , Griffin Badalamente , Marina Gkantia , Imaan F M Tamimi , Siqi Fang , Sung Soo Moon , Han S J Cheong , Feng Li , Philipp Schlegel , Stuart Berg , FlyEM Project Team , Gwyneth M Card , Marta Costa , David Shepherd , Gregory S X E Jefferis
    bioRxiv. 2023 Jun 06:. doi: 10.1101/2023.06.05.543407

    Our companion paper (Takemura et al., 2023) introduces the first completely proofread connectome of the nerve cord of an animal that can walk or fly. The base connectome consists of neuronal morphologies and the connections between them. However, in order to efficiently navigate and understand this connectome, it is crucial to have a system of annotations that systematically categorises and names neurons, linking them to the existing literature. In this paper we describe the comprehensive annotation of the VNC connectome, first by a system of hierarchical coarse annotations, then by grouping left-right and serially homologous neurons and eventually by defining systematic cell types for the intrinsic interneurons and sensory neurons of the VNC; descending and motor neurons are typed in (Cheong et al., 2023). We assign a sensory modality to over 5000 sensory neurons, cluster them by connectivity, and identify serially homologous cell types and a layered organisation likely corresponding to peripheral topography. We identify the developmental neuroblast of origin of the large majority of VNC neurons and confirm that (in most cases) all secondary neurons of each hemilineage express a single neurotransmitter. Neuroblast hemilineages are serially repeated along the segments of the nerve cord and generally exhibit consistent hemilineage-to-hemilineage connectivity across neuromeres, supporting the idea that hemilineages are a major organisational feature of the VNC. We also find that more than a third of individual neurons belong to serially homologous cell types, which were crucial for identifying motor neurons and sensory neurons across leg neuropils. Categorising interneurons by their neuropil innervation patterns provides an additional organisation axis. Over half of the intrinsic neurons of the VNC appear dedicated to the legs, with the majority restricted to single leg neuropils; in contrast, inhibitory interneurons connecting different leg neuropils, especially those crossing the midline, appear rarer than anticipated by standard models of locomotor circuitry. Our annotations are being released as part of the neuprint.janelia.org web application and also serve as the basis of programmatic analysis of the connectome through dedicated tools that we describe in this paper.

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    06/01/23 | Single-cell type analysis of wing premotor circuits in the ventral nerve cord of Drosophila melanogaster
    Erica Ehrhardt , Samuel C Whitehead , Shigehiro Namiki , Ryo Minegishi , Igor Siwanowicz , Kai Feng , Hideo Otsuna , FlyLight Project Team , Geoffrey W Meissner , David Stern , Jim Truman , David Shepherd , Michael H. Dickinson , Kei Ito , Barry J Dickson , Itai Cohen , Gwyneth M Card , Wyatt Korff
    bioRxiv. 2023 Jun 01:. doi: 10.1101/2023.05.31.542897

    To perform most behaviors, animals must send commands from higher-order processing centers in the brain to premotor circuits that reside in ganglia distinct from the brain, such as the mammalian spinal cord or insect ventral nerve cord. How these circuits are functionally organized to generate the great diversity of animal behavior remains unclear. An important first step in unraveling the organization of premotor circuits is to identify their constituent cell types and create tools to monitor and manipulate these with high specificity to assess their function. This is possible in the tractable ventral nerve cord of the fly. To generate such a toolkit, we used a combinatorial genetic technique (split-GAL4) to create 195 sparse driver lines targeting 198 individual cell types in the ventral nerve cord. These included wing and haltere motoneurons, modulatory neurons, and interneurons. Using a combination of behavioral, developmental, and anatomical analyses, we systematically characterized the cell types targeted in our collection. Taken together, the resources and results presented here form a powerful toolkit for future investigations of neural circuits and connectivity of premotor circuits while linking them to behavioral outputs.

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    Card LabFly Functional ConnectomeFly Facility
    01/04/23 | Synaptic gradients transform object location to action.
    Dombrovski M, Peek MY, Park J, Vaccari A, Sumathipala M, Morrow C, Breads P, Zhao A, Kurmangaliyev YZ, Sanfilippo P, Rehan A, Polsky J, Alghailani S, Tenshaw E, Namiki S, Zipursky SL, Card GM
    Nature. 2023 Jan 04;613(7944):534-42. doi: 10.1038/s41586-022-05562-8

    To survive, animals must convert sensory information into appropriate behaviours. Vision is a common sense for locating ethologically relevant stimuli and guiding motor responses. How circuitry converts object location in retinal coordinates to movement direction in body coordinates remains largely unknown. Here we show through behaviour, physiology, anatomy and connectomics in Drosophila that visuomotor transformation occurs by conversion of topographic maps formed by the dendrites of feature-detecting visual projection neurons (VPNs) into synaptic weight gradients of VPN outputs onto central brain neurons. We demonstrate how this gradient motif transforms the anteroposterior location of a visual looming stimulus into the fly's directional escape. Specifically, we discover that two neurons postsynaptic to a looming-responsive VPN type promote opposite takeoff directions. Opposite synaptic weight gradients onto these neurons from looming VPNs in different visual field regions convert localized looming threats into correctly oriented escapes. For a second looming-responsive VPN type, we demonstrate graded responses along the dorsoventral axis. We show that this synaptic gradient motif generalizes across all 20 primary VPN cell types and most often arises without VPN axon topography. Synaptic gradients may thus be a general mechanism for conveying spatial features of sensory information into directed motor outputs.

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    05/18/22 | A functionally ordered visual feature map in the Drosophila brain.
    Klapoetke NC, Nern A, Rogers EM, Rubin GM, Reiser MB, Card GM
    Neuron. 2022 May 18;110(10):1700. doi: 10.1016/j.neuron.2022.02.013

    Topographic maps, the systematic spatial ordering of neurons by response tuning, are common across species. In Drosophila, the lobula columnar (LC) neuron types project from the optic lobe to the central brain, where each forms a glomerulus in a distinct position. However, the advantages of this glomerular arrangement are unclear. Here, we examine the functional and spatial relationships of 10 glomeruli using single-neuron calcium imaging. We discover novel detectors for objects smaller than the lens resolution (LC18) and for complex line motion (LC25). We find that glomeruli are spatially clustered by selectivity for looming versus drifting object motion and ordered by size tuning to form a topographic visual feature map. Furthermore, connectome analysis shows that downstream neurons integrate from sparse subsets of possible glomeruli combinations, which are biased for glomeruli encoding similar features. LC neurons are thus an explicit example of distinct feature detectors topographically organized to facilitate downstream circuit integration.

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    03/14/22 | A population of descending neurons that regulates the flight motor of Drosophila.
    Namiki S, Ros IG, Morrow C, Rowell WJ, Card GM, Korff W, Dickinson MH
    Current Biology. 2022 Mar 14;32(5):1189-1196. doi: 10.1016/j.cub.2022.01.008

    Similar to many insect species, Drosophila melanogaster is capable of maintaining a stable flight trajectory for periods lasting up to several hours. Because aerodynamic torque is roughly proportional to the fifth power of wing length, even small asymmetries in wing size require the maintenance of subtle bilateral differences in flapping motion to maintain a stable path. Flies can even fly straight after losing half of a wing, a feat they accomplish via very large, sustained kinematic changes to both the damaged and intact wings. Thus, the neural network responsible for stable flight must be capable of sustaining fine-scaled control over wing motion across a large dynamic range. In this study, we describe an unusual type of descending neuron (DNg02) that projects directly from visual output regions of the brain to the dorsal flight neuropil of the ventral nerve cord. Unlike many descending neurons, which exist as single bilateral pairs with unique morphology, there is a population of at least 15 DNg02 cell pairs with nearly identical shape. By optogenetically activating different numbers of DNg02 cells, we demonstrate that these neurons regulate wingbeat amplitude over a wide dynamic range via a population code. Using two-photon functional imaging, we show that DNg02 cells are responsive to visual motion during flight in a manner that would make them well suited to continuously regulate bilateral changes in wing kinematics. Collectively, we have identified a critical set of descending neurons that provides the sensitivity and dynamic range required for flight control.

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