Variance adaptation in navigational decision making

{\it Drosophila} larvae navigate their environments using a biased random walk strategy. A key component of this strategy is the decision to initiate a turn (change direction) in response to declining conditions. We modeled this decision as the output of a Linear-Nonlinear-Poisson cascade and used reverse correlation with visual and fictive olfactory stimuli to find the parameters of this model\footnote{Gepner, R., et al., eLife Sciences 4, e06229 (2015)}. Because the larva responds to changes in stimulus intensity, we used stimuli with uncorrelated normally distributed intensity derivatives, i.e. Brownian processes, and took the stimulus derivative as the input to our LNP cascade. In this way, we were able to present stimuli with 0 mean and controlled variance. We found that the nonlinear rate function depended on the variance in the stimulus input, allowing larvae to respond more strongly to small changes in low-noise compared to high-noise environments. We measured the rate at which the larva adapted its behavior following changes in stimulus variance, and found that larvae adapted more quickly to increases in variance than to decreases, consistent with the behavior of an optimal Bayes estimator\footnote{DeWeese, M. \& Zador, A. Neural Computation 10, 1179–1202 (1998)}.