Figure 5. Gradual development of learned grid cells.

Evolution of grid firing fields, evident in the rate map and the corresponding autocorrelogram, across learning trials for model grid cells with the highest grid score in the last trial for two of the three input stripe spacings: (a) 20 cm and (b) 50 cm. Note trial number and grid score on top of each rate map, and grid orientation on top of the corresponding autocorrelogram. For example, the values on top of the rate map and autocorrelogram in the first column of panel (a) correspond to first trial (T1), grid score of −0.12, and grid orientation of 18.44°. Color coding from blue (min.) to red (max.) is used for each rate map, and from blue (−1) to red (1) for each autocorrelogram.