{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"institution":[{"name":"bioRxiv"}],"indexed":{"date-parts":[[2026,8,17]],"date-time":"2026-08-17T19:31:29Z","timestamp":1786995089905,"version":"build-2736575974"},"posted":{"date-parts":[[2026,8,13]]},"group-title":"Neuroscience","reference-count":55,"publisher":"openRxiv","license":[{"start":{"date-parts":[[2026,8,13]],"date-time":"2026-08-13T00:00:00Z","timestamp":1786579200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.biorxiv.org\/about\/FAQ#license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"accepted":{"date-parts":[[2026,8,13]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                <jats:p>When sensory modalities yield conflicting information, animals must rapidly reassess stimuli to select their actions. We induced auditory\u2013visual conflict in free-flying echolocating Egyptian fruit bats, by fitting animals with prisms that shifted the perceived visual location of a landing perch while echoes returned from its veridical location. Bats that course-corrected within a single goal-directed flight did so by decoupling sonar gaze from steering, to enable rapid reweighting of visual and auditory cues. We designed artificial agents that used Bayesian inference to construct estimates of goal locations in their environment. When competing estimates directed active-sensing behaviors distinctly from steering, agents course-corrected more rapidly. Consistent with this idea, when bats were fit with prisms and earplugs that attenuated auditory localization cues, they were unable to course-correct. Removing prisms produced no systematic after-effects. Our framework suggests that instead of correcting their behavior after failure, animals could efficiently employ active sensing to resolve sensory conflict before failure occurs.<\/jats:p>\n                <jats:p>\n                  <jats:fig id=\"ufig1\" position=\"float\" fig-type=\"figure\" orientation=\"portrait\">\n                    <jats:label>Cover figure.<\/jats:label>\n                    <jats:caption>\n                      <jats:p>Bat wearing helmet with clear-glasses and tracking markers. Photograph \u00a9 2026 Nikita M. Finger \/ Moss Laboratory.<\/jats:p>\n                    <\/jats:caption>\n                    <jats:graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"743555v1_ufig1\" position=\"float\" orientation=\"portrait\"\/>\n                  <\/jats:fig>\n                <\/jats:p>","DOI":"10.64898\/2026.08.08.743555","type":"posted-content","created":{"date-parts":[[2026,8,13]],"date-time":"2026-08-13T15:45:11Z","timestamp":1786635911000},"source":"Crossref","is-referenced-by-count":0,"title":["Bats decouple sonar gaze from steering to resolve sensory conflict"],"prefix":"10.64898","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5161-3646","authenticated-orcid":false,"given":"Nikita M.","family":"Finger","sequence":"first","affiliation":[{"name":"Department of Psychological and Brain Sciences, Krieger School of Arts and Sciences, Johns Hopkins, University; Baltimore, MD, USA"},{"name":"Center for Hearing and Balance, Johns Hopkins University School of Medicine; Baltimore, MD, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shivam S.","family":"Chitnis","sequence":"additional","affiliation":[{"name":"The Solomon H. Snyder Department of Neuroscience, Johns Hopkins University School of Medicine; Baltimore, MD, USA"},{"name":"Janelia Research Campus, Howard Hughes Medical Institute; Ashburn, VA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Grace","family":"Capshaw","sequence":"additional","affiliation":[{"name":"Department of Psychological and Brain Sciences, Krieger School of Arts and Sciences, Johns Hopkins, University; Baltimore, MD, USA"},{"name":"Center for Hearing and Balance, Johns Hopkins University School of Medicine; Baltimore, MD, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alara","family":"Kaplanoglu","sequence":"additional","affiliation":[{"name":"Department of Psychological and Brain Sciences, Krieger School of Arts and Sciences, Johns Hopkins, University; Baltimore, MD, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anand","family":"Krishnan","sequence":"additional","affiliation":[{"name":"Evolutionary and Organismal Biology Unit, Jawaharlal Nehru Centre for Advanced Scientific Research; Bengaluru, Karnataka, India"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6916-0000","authenticated-orcid":false,"given":"Cynthia F.","family":"Moss","sequence":"additional","affiliation":[{"name":"Department of Psychological and Brain Sciences, Krieger School of Arts and Sciences, Johns Hopkins, University; Baltimore, MD, USA"},{"name":"Center for Hearing and Balance, Johns Hopkins University School of Medicine; Baltimore, MD, USA"},{"name":"The Solomon H. Snyder Department of Neuroscience, Johns Hopkins University School of Medicine; Baltimore, MD, USA"},{"name":"Department of Mechanical Engineering, Whiting School of Engineering, Johns Hopkins University; Baltimore, MD, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"54368","reference":[{"key":"2026081711401297000_2026.08.08.743555v1.1","doi-asserted-by":"crossref","unstructured":"B. E. Stein , B. A. Rowland , \u201cChapter 3 - Neural development of multisensory integration\u201d in Multisensory Perception, K. Sathian , V. S. Ramachandran , Eds. (Academic Press, 2020; https:\/\/www.sciencedirect.com\/science\/article\/pii\/B9780128124925000036), pp. 57\u201387.","DOI":"10.1016\/B978-0-12-812492-5.00003-6"},{"key":"2026081711401297000_2026.08.08.743555v1.2","doi-asserted-by":"crossref","first-page":"541","DOI":"10.1146\/annurev-ecolsys-012921-052635","article-title":"Sensory and Cognitive Ecology of Bats","volume":"52","year":"2021","journal-title":"Annu. Rev. Ecol. Evol. Syst"},{"key":"2026081711401297000_2026.08.08.743555v1.3","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2331"},{"key":"2026081711401297000_2026.08.08.743555v1.4","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-neuro-060909-152823"},{"key":"2026081711401297000_2026.08.08.743555v1.5","doi-asserted-by":"publisher","DOI":"10.1016\/j.tics.2012.06.010"},{"key":"2026081711401297000_2026.08.08.743555v1.6","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1016\/j.cobeha.2016.06.009","article-title":"Theoretical perspectives on active sensing","volume":"11","year":"2016","journal-title":"Curr. Opin. Behav. Sci"},{"key":"2026081711401297000_2026.08.08.743555v1.7","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1111\/nyas.70112","article-title":"A Framework for Sensory-to-Memory Weighting During Navigation","volume":"1554","year":"2025","journal-title":"Ann. N. Y. Acad. Sci"},{"key":"2026081711401297000_2026.08.08.743555v1.8","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1522419113"},{"key":"2026081711401297000_2026.08.08.743555v1.9","doi-asserted-by":"publisher","DOI":"10.1038\/415429a"},{"key":"2026081711401297000_2026.08.08.743555v1.10","doi-asserted-by":"publisher","DOI":"10.1038\/nn.2983"},{"key":"2026081711401297000_2026.08.08.743555v1.11","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0000943"},{"key":"2026081711401297000_2026.08.08.743555v1.12","doi-asserted-by":"publisher","DOI":"10.1037\/h0072918"},{"key":"2026081711401297000_2026.08.08.743555v1.13","unstructured":"H. von Helmholtz , Helmholtz\u2019s Treatise on Physiological Optics (Dover Publications, New York, 1962)."},{"key":"2026081711401297000_2026.08.08.743555v1.14","doi-asserted-by":"crossref","first-page":"215","DOI":"10.3758\/BF03343413","article-title":"Visual capture produced by prism spectacles","volume":"2","year":"1965","journal-title":"Psychon. Sci"},{"key":"2026081711401297000_2026.08.08.743555v1.15","doi-asserted-by":"publisher","DOI":"10.1126\/science.140.3568.812"},{"key":"2026081711401297000_2026.08.08.743555v1.16","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.09-09-03297.1989"},{"key":"2026081711401297000_2026.08.08.743555v1.17","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.18-10-03929.1998"},{"key":"2026081711401297000_2026.08.08.743555v1.18","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuropsychologia.2005.04.009"},{"key":"2026081711401297000_2026.08.08.743555v1.19","doi-asserted-by":"publisher","DOI":"10.3758\/BF03207161"},{"key":"2026081711401297000_2026.08.08.743555v1.20","doi-asserted-by":"publisher","DOI":"10.1016\/S0960-9822(07)00492-7"},{"key":"2026081711401297000_2026.08.08.743555v1.21","doi-asserted-by":"publisher","DOI":"10.1007\/s00359-011-0639-4"},{"key":"2026081711401297000_2026.08.08.743555v1.22","doi-asserted-by":"publisher","DOI":"10.1126\/science.1183310"},{"key":"2026081711401297000_2026.08.08.743555v1.23","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aaw6503"},{"key":"2026081711401297000_2026.08.08.743555v1.24","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2015.11.003"},{"key":"2026081711401297000_2026.08.08.743555v1.25","doi-asserted-by":"publisher","DOI":"10.1002\/cne.903140404"},{"key":"2026081711401297000_2026.08.08.743555v1.26","doi-asserted-by":"publisher","DOI":"10.1037\/0735-7036.113.3.297"},{"key":"2026081711401297000_2026.08.08.743555v1.27","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.2003148"},{"key":"2026081711401297000_2026.08.08.743555v1.28","doi-asserted-by":"publisher","DOI":"10.1121\/1.1398051"},{"key":"2026081711401297000_2026.08.08.743555v1.29","doi-asserted-by":"publisher","DOI":"10.1016\/j.conb.2011.05.028"},{"key":"2026081711401297000_2026.08.08.743555v1.30","doi-asserted-by":"crossref","first-page":"jeb250551","DOI":"10.1242\/jeb.250551","article-title":"Spatial priors affect sensory weighting in navigation and landing in Egyptian fruit bats","volume":"228","year":"2025","journal-title":"J. Exp. Biol"},{"key":"2026081711401297000_2026.08.08.743555v1.31","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2024.04.036"},{"key":"2026081711401297000_2026.08.08.743555v1.32","doi-asserted-by":"crossref","first-page":"4311","DOI":"10.1016\/j.cub.2025.07.044","article-title":"Auditory object representation in the bat hippocampus","volume":"35","year":"2025","journal-title":"Curr. Biol"},{"key":"2026081711401297000_2026.08.08.743555v1.33","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2026.05.030"},{"key":"2026081711401297000_2026.08.08.743555v1.34","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00608.2019"},{"key":"2026081711401297000_2026.08.08.743555v1.35","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9615-3"},{"key":"2026081711401297000_2026.08.08.743555v1.36","doi-asserted-by":"publisher","DOI":"10.48550\/arXiv.2605.22988"},{"key":"2026081711401297000_2026.08.08.743555v1.37","doi-asserted-by":"publisher","DOI":"10.1038\/nn.3687"},{"key":"2026081711401297000_2026.08.08.743555v1.38","doi-asserted-by":"publisher","DOI":"10.1121\/1.1589754"},{"key":"2026081711401297000_2026.08.08.743555v1.39","doi-asserted-by":"publisher","DOI":"10.3758\/BF03198798"},{"key":"2026081711401297000_2026.08.08.743555v1.40","doi-asserted-by":"publisher","DOI":"10.1016\/j.tics.2010.07.001"},{"key":"2026081711401297000_2026.08.08.743555v1.41","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.1002073"},{"key":"2026081711401297000_2026.08.08.743555v1.42","doi-asserted-by":"publisher","DOI":"10.64898\/2026.01.27.702083"},{"key":"2026081711401297000_2026.08.08.743555v1.43","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-024-08527-1"},{"key":"2026081711401297000_2026.08.08.743555v1.44","doi-asserted-by":"publisher","DOI":"10.1038\/369742a0"},{"key":"2026081711401297000_2026.08.08.743555v1.45","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01040.2010"},{"key":"2026081711401297000_2026.08.08.743555v1.46","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00129.2004"},{"key":"2026081711401297000_2026.08.08.743555v1.47","doi-asserted-by":"publisher","DOI":"10.1038\/nn963"},{"key":"2026081711401297000_2026.08.08.743555v1.48","doi-asserted-by":"publisher","DOI":"10.1016\/j.tics.2009.11.004"},{"key":"2026081711401297000_2026.08.08.743555v1.49","doi-asserted-by":"crossref","first-page":"e1010526","DOI":"10.1371\/journal.pcbi.1010526","article-title":"Error-independent effect of sensory uncertainty on motor learning when both feedforward and feedback control processes are engaged","volume":"19","year":"2023","journal-title":"PLOS Comput. Biol"},{"key":"2026081711401297000_2026.08.08.743555v1.50","doi-asserted-by":"crossref","first-page":"83","DOI":"10.3161\/1733-5329(2005)7[83:ESAPMI]2.0.CO;2","article-title":"Echolocation signals and pinnae movement in the fruitbat Rousettus aegyptiacus","volume":"7","year":"2005","journal-title":"Acta Chiropterologica"},{"key":"2026081711401297000_2026.08.08.743555v1.51","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01288"},{"key":"2026081711401297000_2026.08.08.743555v1.52","doi-asserted-by":"crossref","unstructured":"P. M\u00fcller , \u201cSimulation based optimal design\u201d in Bayesian Statistics 6, J. M. Bernardo , J. O. Berger , A. P. Dawid , A. F. M. Smith , Eds. (Oxford University Press, 1999), pp. 459\u2013474. Not cited in main text reference list","DOI":"10.1093\/oso\/9780198504856.003.0020"},{"key":"2026081711401297000_2026.08.08.743555v1.53","doi-asserted-by":"publisher","DOI":"10.1121\/1.381707"},{"key":"2026081711401297000_2026.08.08.743555v1.54","doi-asserted-by":"crossref","first-page":"270","DOI":"10.1016\/j.bspc.2012.03.007","article-title":"Identification of sound-localization cues in the HRTF of the bat-head model","volume":"7","year":"2012","journal-title":"Biomed. Signal Process. Control"},{"key":"2026081711401297000_2026.08.08.743555v1.55","unstructured":"C. D. Spence , J. C. Pearson , \u201cThe computation of sound source elevation in the barn owl\u201d in Proceedings of the 3rd International Conference on Neural Information Processing Systems (MIT Press, Cambridge, MA, USA, 1989) NIPS\u201989, pp. 10\u201317. Not cited in main text reference list."}],"container-title":[],"original-title":[],"link":[{"URL":"https:\/\/syndication.highwire.org\/content\/doi\/10.64898\/2026.08.08.743555","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,8,17]],"date-time":"2026-08-17T18:40:26Z","timestamp":1786992026000},"score":1,"resource":{"primary":{"URL":"http:\/\/biorxiv.org\/lookup\/doi\/10.64898\/2026.08.08.743555"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,8,13]]},"references-count":55,"URL":"https:\/\/doi.org\/10.64898\/2026.08.08.743555","relation":{},"subject":[],"published":{"date-parts":[[2026,8,13]]},"subtype":"preprint"}}