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Here we developed a network, trained with a simple predictive objective, that was capable of mapping egocentric information into an allocentric spatial reference frame. The prediction of visual inputs was sufficient to drive the appearance of spatial representations resembling those observed in rodents: head direction, boundary vector, and place cells, along with the recently discovered egocentric boundary cells, suggesting predictive coding as a principle for their emergence in animals. Strikingly, the network learned a solution for head direction tracking and stabilisation convergent with known biological connectivity. Moreover, like mammalian representations, responses were robust to environmental manipulations, including exposure to novel settings. In contrast to existing reinforcement learning approaches, agents equipped with this network were able to flexibly reuse learnt behaviours \u2014adapting rapidly to unfamiliar environments. Thus, our results indicate that these representations, derived from a simple egocentric predictive framework, form an efficient basis-set for cognitive mapping.<\/jats:p>","DOI":"10.1101\/2020.11.11.378141","type":"posted-content","created":{"date-parts":[[2020,11,12]],"date-time":"2020-11-12T20:35:18Z","timestamp":1605213318000},"source":"Crossref","is-referenced-by-count":43,"title":["A model of egocentric to allocentric understanding in mammalian brains"],"prefix":"10.64898","author":[{"given":"Benigno","family":"Uria","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3476-9953","authenticated-orcid":false,"given":"Borja","family":"Ibarz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrea","family":"Banino","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vinicius","family":"Zambaldi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5995-5264","authenticated-orcid":false,"given":"Dharshan","family":"Kumaran","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Demis","family":"Hassabis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6718-0649","authenticated-orcid":false,"given":"Caswell","family":"Barry","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0336-0696","authenticated-orcid":false,"given":"Charles","family":"Blundell","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"54368","reference":[{"key":"2024080423362215000_2020.11.11.378141v2.1","doi-asserted-by":"publisher","DOI":"10.1037\/h0061626"},{"key":"2024080423362215000_2020.11.11.378141v2.2","doi-asserted-by":"crossref","unstructured":"O\u2019Keefe, J. & Dostrovsky, J . 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