Temporal information in the anterior cingulate cortex relates to accumulated experiences.

Anterior cingulate cortex (ACC) activity is important for operations that require the ability to integrate multiple experiences over time, such as rule learning, cognitive flexibility, working memory, and long-term memory recall. To shed light on this, we analyzed neuronal activity while rats repeated the same behaviors during hour-long sessions to investigate how activity changed over time. We recorded neuronal ensembles as rats performed a decision-free operant task with varying reward likelihoods at three different response ports (n = 5). Neuronal state space analysis revealed that each repetition of a behavior was distinct, with more recent behaviors more similar than those further apart in time. ACC activity was dominated by a slow, gradual change in low-dimensional representations of neural state space aligning with the pace of behavior. Temporal progression, or drift, was apparent on the top principal component for every session and was driven by the accumulation of experiences and not an internal clock. Notably, these signals were consistent across subjects, allowing us to accurately predict trial numbers based on a model trained on data from a different animal. We observed that non-continuous ramping firing rates over extended durations (tens of minutes) drove the low-dimensional ensemble representations. 40% of ACC neurons' firing ramped over a range of trial lengths and combinations of shorter duration ramping neurons created ensembles that tracked longer durations. These findings provide valuable insights into how the ACC, at an ensemble level, conveys temporal information by reflecting the accumulation of experiences over extended periods.

Neural basis of cognitive control signals in anterior cingulate cortex during delay discounting.

Cognitive control involves allocating cognitive effort according to internal needs and task demands and the Anterior Cingulate Cortex (ACC) is hypothesized to play a central role in this process. We investigated the neural basis of cognitive control in the ACC of rats performing an adjusting-amount delay discounting task. Decision-making in this this task can be guided by using either a lever-value tracking strategy, requiring a 'resource-based' form of cognitive effort or a lever-biased strategy requiring a 'resistance-based' form of cognitive effort. We found that ACC ensembles always tightly tracked lever value on each trial, indicative of a resource-based control signal. These signals were prevalent in the neural recordings and were influenced by the delay. A shorter delay was associated with devaluing of the immediate option and a longer delay was associated with overvaluing of the immediate option. In addition, ACC theta (6-12Hz) oscillations were observed at the choice point of rats exhibiting a resistance-based strategy. These data provide candidates of neural activity patterns in the ACC that underlie the use of 'resource-based' and 'resistance-based' cognitive effort. Furthermore, these data illustrate how strategies can be engaged under different conditions in individual subjects.

Reconfiguration of Behavioral Signals in the Anterior Cingulate Cortex Based on Emotional State.

Behaviors and their execution depend on the context and emotional state in which they are performed. The contextual modulation of behavior likely relies on regions such as the anterior cingulate cortex (ACC) that multiplex information about emotional/autonomic states and behaviors. The objective of the present study was to understand how the representations of behaviors by ACC neurons become modified when performed in different emotional states. A pipeline of machine learning techniques was developed to categorize and classify complex, spontaneous behaviors in male rats from the video. This pipeline, termed Hierarchical Unsupervised Behavioural Discovery Tool (HUB-DT), discovered a range of statistically separable behaviors during a task in which motivationally significant outcomes were delivered in blocks of trials that created three unique "emotional contexts." HUB-DT was capable of detecting behaviors specific to each emotional context and was able to identify and segregate the portions of a neural signal related to a behavior and to emotional context. Overall, ∼10× as many neurons responded to behaviors in a contextually dependent versus a fixed manner, highlighting the extreme impact of emotional state on representations of behaviors that were precisely defined based on detailed analyses of limb kinematics. This type of modulation may be a key mechanism that allows the ACC to modify the behavioral output based on emotional states and contextual demands.

Differential patterns of basal and naloxone-evoked dopamine efflux in the rat dorsal and ventral striatum following prolonged-intermittent exposure to morphine.

Hypodopaminergia in the ventral striatum is a putative neurobiological correlate of withdrawal in opioid-dependent individuals. This perspective stands in contrast to brain imaging studies with chronic opioid users showing that naloxone-enhanced dopamine (DA) release in the dorsal striatum is positively correlated with withdrawal aversion. Here, we examined regional differences in striatal DA function associated with opioid withdrawal in rats exposed to intermittent morphine injections for 31 days. Basal concentrations of DA were reduced (i.e., indicating a hypodopaminergic state) in the ventral striatum on Day 10 of morphine exposure, whereas a more prolonged period of morphine treatment was required to reveal hypodopaminergia in the dorsal striatum on Day 31. The ventral striatum consistently exhibited naloxone-induced transient reductions in DA below the hypodopaminergic basal levels, whereas morphine enhanced DA efflux. In the dorsal striatum, DA responsivity to naloxone shifted from a significant decrease on Day 10 to a notable increase above hypodopaminergic basal levels on Day 31, corroborating the findings in the human dorsal striatum. Unexpectedly, the magnitude of morphine-evoked increases in DA efflux on Day 31 was significantly blunted relative to values on Day 10. These findings indicate that prolonged-intermittent access to morphine results in a sustained hypodopaminergic state as reflected in basal levels in the striatum, which is accompanied by regional differences in DA responsivity to naloxone and morphine. Overall, our findings suggest that prolonging the duration of morphine exposure to 31 days is sufficient to reveal neuroadaptations that may underlie the transition from initial drug exposure to opioid dependence.

Optogenetic modulation of glutamatergic afferents from the ventral subiculum to the nucleus accumbens: Effects on dopamine function, response vigor and locomotor activity.

Dopamine (DA) signalling in the nucleus accumbens (NAc) motivates behavior in part by adjusting the exerted effort according to the anticipated value of the outcome. Here we examined the effects of optogenetic activation or inhibition of the glutamatergic ventral subiculum (vSub) to NAc pathway on motivation to work for food rewards and locomotor behavior. Using a novel probe that combines optical stimulation with microdialysis, we show that channelrhodopsin2 (ChR2)-mediated activation of these glutamatergic afferents increased DA efflux in the NAc. This protocol also selectively influenced motivation to seek food in a progressive-ratio (PR) task by re-invigorating lever-pressing, but only during a period of reduced motivation following failure to achieve food reward (i.e., after the breakpoint, BP). Importantly, identical ChR2-mediated photostimulation parameters failed to affect the rate of operant responding in the PR segment prior to reaching the BP. In contrast, during the segment of vigorous lever-pressing prior to the BP, halorhodopsin-mediated optogenetic inhibition of glutamatergic vSub-NAc activity caused an immediate and sustained suppression of food-seeking behavior. Based on these results, we conclude that glutamatergic vSub-NAc afferents can modulate food-seeking behavior, including 'response vigor', as a function of present motivational state. In a 'low-motivational state' following failure to achieve an anticipated reward, optogenetic stimulation of this pathway can reinvigorate lever-pressing behavior. In turn, inhibition of this glutamatergic pathway appears to decrease motivated responding. These data may be relevant to dysregulated motivational states common to psychiatric conditions, including depression, schizophrenia, and substance use disorders.

Event-based control of autonomic and emotional states by the anterior cingulate cortex.

Despite being an intensive area of research, the function of the anterior cingulate cortex (ACC) remains somewhat of a mystery. Human imaging studies implicate the ACC in various cognitive functions, yet surgical ACC lesions used to treat emotional disorders have minimal lasting effects on cognition. An alternative view is that ACC regulates autonomic states, consistent with its interconnectivity with autonomic control regions and that stimulation evokes changes in autonomic/emotional states. At the cellular level, ACC neurons are highly multi-modal and promiscuous, and can represent a staggering array of task events. These neurons nevertheless combine to produce highly event-specific ensemble patterns that likely alter activity in downstream regions controlling emotional and autonomic tone. Since neuromodulators regulate the strength of the ensemble activity patterns, they would regulate the impact these patterns have on downstream targets. Through these mechanisms, the ACC may determine how strongly to react to the very events its ensembles represent. Pathologies arise when specific event-related representations gain excessive control over autonomic/emotional states.

The anterior cingulate cortex and event-based modulation of autonomic states.

In spite of being an intensive area of research focus, the anterior cingulate cortex (ACC) remains somewhat of an enigma. Many theories have focused on its role in various aspects of cognition yet surgically precise lesions of the ACC, used to treat severe emotional disorders in human patients, typically have no lasting effects on cognition. An alternative view is that the ACC has a prominent role in regulating autonomic states. This view is consistent with anatomical data showing that a main target of the ACC are regions involved in autonomic control and with the observation that stimulation of the ACC evokes changes in autonomic states in both animals and humans. From an electrophysiological perspective, ACC neurons appear able to represent virtually any event or internal state, even though there is not always a strong link between these representations and behavior. Ensembles of neurons form robust contextual representations that strongly influence how specific events are encoded. The activity patterns associated with these contextually-based event representations presumably impact activity in downstream regions that control autonomic state. As a result, the ACC may regulate the autonomic and perhaps emotional reactions to events it is representing. This event-based control of autonomic tone by the ACC would likely arise during all types of cognitive and affective processes, without necessarily being critical for any of them.

LTD is involved in the formation and maintenance of rat hippocampal CA1 place-cell fields.

Hippocampal synaptic plasticity includes both long-term potentiation (LTP) and long-term depression (LTD) of synaptic strength, and has been implicated in shaping place field representations that form upon initial exposure to a novel environment. However, direct evidence causally linking either LTP or LTD to place fields remains limited. Here, we show that hippocampal LTD regulates the acute formation and maintenance of place fields using electrophysiology and blocking specifically LTD in freely-moving rats. We also show that exploration of a novel environment produces a widespread and pathway specific de novo synaptic depression in the dorsal hippocampus. Furthermore, disruption of this pathway-specific synaptic depression alters both the dynamics of place field formation and the stability of the newly formed place fields, affecting spatial memory in rats. These results suggest that activity-dependent synaptic depression is required for the acquisition and maintenance of novel spatial information.

Abrupt, Asynchronous Changes in Action Representations by Anterior Cingulate Cortex Neurons during Trial and Error Learning.

The ability to act on knowledge about the value of stimuli or actions factors into simple foraging behaviors as well as complex forms of decision-making. In striatal regions, action representations are thought to acquire value through a gradual (reinforcement-learning based) process. It is unclear whether this is also true for anterior cingulate cortex (ACC) where neuronal representations tend to change abruptly. We recorded from ensembles of ACC neurons as rats deduced which of 3 levers was rewarded each day. The rat's lever preferences changed gradually throughout the sessions as they eventually came to focus on the rewarded lever. Most individual neurons changed their responses to both rewarded and nonrewarded lever presses abruptly (<2 trials). These transitions occurred asynchronously across the population but peaked near the point where the rats began to focus on the rewarded lever. Because the individual transitions were asynchronous, the overall change at the population level appeared gradual. Abrupt transitions in action representations of ACC neurons may be part of a mechanism that alters choice strategies as new information is acquired.

Activation of the ventral subiculum reinvigorates behavior after failure to achieve a goal: Implications for dopaminergic modulation of motivational processes.

Previous studies confirm that brief electrical stimulation of glutamatergic afferents from the ventral subiculum (vSub) can significantly enhance dopamine release in the ventral striatum for an extended duration (>20 min). However, the functional significance of this effect on motivated behavior remains to be specified. Here we tested the hypothesis that brief electrical stimulation of the ventral subiculum (20 Hz for 10 s) might increase effort expenditure for food rewards. Motivation was assessed by a progressive ratio lever pressing task, which requires continuous escalation of the numbers of lever presses to receive each subsequent sucrose pellet, eventually resulting in the failure to achieve the required ratio for a food reward. vSub stimulation at the start of a session did not affect the rate or total number of lever presses prior to reaching the "break point". In contrast, stimulation of the vSub with identical parameters on a post break point trial resulted in a significant increase in total responses. These findings demonstrate that activation of the vSub with parameters that modulate dopamine efflux in the nucleus accumbens can re-activate goal-directed behavior after failure to achieve a goal. Our data highlight a possible role for the vSub in the pathophysiology and potential treatment of motivational processes linked to psychiatric disease.

Persistent Valence Representations by Ensembles of Anterior Cingulate Cortex Neurons.

The anterior cingulate cortex (ACC) responds to outcomes of a positive or negative valence, but past studies typically focus on one valence or the other, making it difficult to know how opposing valences are disambiguated. We recorded from ACC neurons as rats received tones followed by aversive, appetitive or null outcomes. The responses to the different tones/outcomes were highly inter-mixed at the single neuron level but combined to produce robust valence-specific representations at the ensemble level. The valence-specific patterns far outlasted the tones and outcomes, persisting throughout the long inter-trial intervals (ITIs) and even throughout trial blocks. When the trials were interleaved, the valence-specific patterns abruptly shifted at the start of each new trial. Overall the aversive trials had the greatest impact on the neurons. Thus within the ACC, valence-specificity is largely an emergent property of ensembles and valence-specific representations can appear quickly and persist long after the initiating event.

How Much Does Movement and Location Encoding Impact Prefrontal Cortex Activity? An Algorithmic Decoding Approach in Freely Moving Rats.

Specialized brain structures encode spatial locations and movements, yet there is growing evidence that this information is also represented in the rodent medial prefrontal cortex (mPFC). Disambiguating such information from the encoding of other types of task-relevant information has proven challenging. To determine the extent to which movement and location information is relevant to mPFC neurons, tetrodes were used to record neuronal activity while limb positions, poses (i.e., recurring constellations of limb positions), velocity, and spatial locations were simultaneously recorded with two cameras every 200 ms as rats freely roamed in an experimental enclosure. Regression analyses using generalized linear models revealed that more than half of the individual mPFC neurons were significantly responsive to at least one of the factors, and many were responsive to more than one. On the other hand, each factor accounted for only a very small portion of the total spike count variance of any given neuron (<20% and typically <1%). Machine learning methods were used to analyze ensemble activity and revealed that ensembles were usually superior to the sum of the best neurons in encoding movements and spatial locations. Because movement and location encoding by individual neurons was so weak, it may not be such a concern for single-neuron analyses. Yet because these weak signals were so widely distributed across the population, this information was strongly represented at the ensemble level and should be considered in population analyses.

Temporal Dynamics of Hippocampal and Medial Prefrontal Cortex Interactions During the Delay Period of a Working Memory-Guided Foraging Task.

Connections between the hippocampus (HC) and medial prefrontal cortex (mPFC) are critical for working memory; however, the precise contribution of this pathway is a matter of debate. One suggestion is that it may stabilize retrospective memories of recently encountered task-relevant information. Alternatively, it may be involved in encoding prospective memories, or the internal representation of future goals. To explore these possibilities, simultaneous extracellular recordings were made from mPFC and HC of rats performing the delayed spatial win-shift on a radial maze. Each trial consisted of a training-phase (when 4 randomly chosen arms were open) and test phase (all 8 arms were open but only previously blocked arms contained food) separated by a 60-s delay. Theta power was highest during the delay, and mPFC units were more likely to become entrained to hippocampal theta as the delay progressed. Training and test phase performance were accurately predicted by a linear classifier, and there was a transition in classification for training-phase to test-phase activity patterns throughout the delay on trials where the rats performed well. These data suggest that the HC and mPFC become more strongly synchronized as mPFC circuits preferentially shift from encoding retrospective to prospective information.

A Quantitative Analysis of Context-Dependent Remapping of Medial Frontal Cortex Neurons and Ensembles.

UNLABELLED: The frontal cortex has been implicated in a number of cognitive and motivational processes, but understanding how individual neurons contribute to these processes is particularly challenging as they respond to a broad array of events (multiplexing) in a manner that can be dynamically modulated by the task context, i.e., adaptive coding (Duncan, 2001). Fundamental questions remain, such as how the flexibility gained through these mechanisms is balanced by the need for consistency and how the ensembles of neurons are coherently shaped by task demands. In the present study, ensembles of medial frontal cortex neurons were recorded from rats trained to perform three different operant actions either in two different sequences or two different physical environments. Single neurons exhibited diverse mixtures of responsivity to each of the three actions and these mixtures were abruptly altered by context/sequence switches. Remarkably, the overall responsivity of the population remained highly consistent both within and between context/sequences because the gains versus losses were tightly balanced across neurons and across the three actions. These data are consistent with a reallocation mixture model in which individual neurons express unique mixtures of selectivity for different actions that become reallocated as task conditions change. However, because the allocations and reallocations are so well balanced across neurons, the population maintains a low but highly consistent response to all actions. The frontal cortex may therefore balance consistency with flexibility by having ensembles respond in a fixed way to task-relevant actions while abruptly reconfiguring single neurons to encode "actions in context." SIGNIFICANCE STATEMENT: Flexible modes of behavior involve performance of similar actions in contextually relevant ways. The present study quantified the changes in how rat medial frontal cortex neurons respond to the same actions when performed in different task contexts (sequences or environments). Most neurons altered the mixture of actions they were responsive to in different contexts or sequences. Nevertheless, the responsivity profile of the ensemble remained fixed as did the ability of the ensemble to differentiate between the three actions. These mechanisms may help to contextualize the manner in which common events are represented across different situations.

Ketamine-Induced Changes in the Signal and Noise of Rule Representation in Working Memory by Lateral Prefrontal Neurons.

Working memory dysfunction is an especially debilitating symptom in schizophrenia. The NMDA antagonist ketamine has been successfully used to model working memory deficits in both rodents and nonhuman primates, but how it affects the strength and the consistency of working memory representations remains unclear. Here we recorded single-neuron activity in the lateral prefrontal cortex of macaque monkeys before and after the administration of subanesthetic doses of ketamine in a rule-based working memory task. The rule was instructed with a color cue before each delay period and dictated the correct prosaccadic or antisaccadic response to a peripheral stimulus appearing after the delay. We found that acute ketamine injections both weakened the rule signal across all delay periods and amplified the trial-to-trial variance in neural activities (i.e., noise), both within individual neurons and at the ensemble level, resulting in impaired performance. In the minority of postinjection trials when the animals responded correctly, the preservation of the signal strength during the delay periods was predictive of their subsequent success. Our findings suggest that NMDA receptor function may be critical for establishing the optimal signal-to-noise ratio in information representation by ensembles of prefrontal cortex neurons. SIGNIFICANCE STATEMENT: In schizophrenia patients, working memory deficit is highly debilitating and currently without any efficacious treatment. An improved understanding of the pathophysiology of this symptom may provide critical information to treatment development. The NMDA antagonist ketamine, when injected at a subanesthetic dose, produces working memory deficit and other schizophrenia-like symptoms in humans and other animals. Here we investigated the effects of ketamine on the representation of abstract rules by prefrontal neurons, while macaque monkeys held the rules in working memory before responding accordingly. We found that ketamine weakened the signal-to-noise ratio in rule representation by simultaneously weakening the signal and augmenting noise. Both processes may be relevant in an effective therapy for working memory impairment in schizophrenia.

Amphetamine Exerts Dose-Dependent Changes in Prefrontal Cortex Attractor Dynamics during Working Memory.

Modulation of neural activity by monoamine neurotransmitters is thought to play an essential role in shaping computational neurodynamics in the neocortex, especially in prefrontal regions. Computational theories propose that monoamines may exert bidirectional (concentration-dependent) effects on cognition by altering prefrontal cortical attractor dynamics according to an inverted U-shaped function. To date, this hypothesis has not been addressed directly, in part because of the absence of appropriate statistical methods required to assess attractor-like behavior in vivo. The present study used a combination of advanced multivariate statistical, time series analysis, and machine learning methods to assess dynamic changes in network activity from multiple single-unit recordings from the medial prefrontal cortex (mPFC) of rats while the animals performed a foraging task guided by working memory after pretreatment with different doses of d-amphetamine (AMPH), which increases monoamine efflux in the mPFC. A dose-dependent, bidirectional effect of AMPH on neural dynamics in the mPFC was observed. Specifically, a 1.0 mg/kg dose of AMPH accentuated separation between task-epoch-specific population states and convergence toward these states. In contrast, a 3.3 mg/kg dose diminished separation and convergence toward task-epoch-specific population states, which was paralleled by deficits in cognitive performance. These results support the computationally derived hypothesis that moderate increases in monoamine efflux would enhance attractor stability, whereas high frontal monoamine levels would severely diminish it. Furthermore, they are consistent with the proposed inverted U-shaped and concentration-dependent modulation of cortical efficiency by monoamines.

Cell-attached single-channel recordings in intact prefrontal cortex pyramidal neurons reveal compartmentalized D1/D5 receptor modulation of the persistent sodium current.

The persistent Na(+) current (I(Nap)) is believed to be an important target of dopamine modulation in prefrontal cortex (PFC) neurons. While past studies have tested the effects of dopamine on I(Nap), the results have been contradictory largely because of difficulties in measuring I(Nap) using somatic whole-cell recordings. To circumvent these confounds we used the cell-attached patch-clamp technique to record single Na(+) channels from the soma, proximal dendrite (PD) or proximal axon (PA) of intact prefrontal layer V pyramidal neurons. Under baseline conditions, numerous well resolved Na(+) channel openings were recorded that exhibited an extrapolated reversal potential of 73 mV, a slope conductance of 14-19 pS and were blocked by tetrodotoxin (TTX). While similar in most respects, the propensity to exhibit prolonged bursts lasting >40 ms was many fold greater in the axon than the soma or dendrite. Bath application of the D1/D5 receptor agonist SKF81297 shifted the ensemble current activation curve leftward and increased the number of late events recorded from the PD but not the soma or PA. However, the greatest effect was on prolonged bursting where the D1/D5 receptor agonist increased their occurrence 3 fold in the PD and nearly 7 fold in the soma, but not at all in the PA. As a result, D1/D5 receptor activation equalized the probability of prolonged burst occurrence across the proximal axosomatodendritic region. Therefore, D1/D5 receptor modulation appears to be targeted mainly to Na(+) channels in the PD/soma and not the PA. By circumventing the pitfalls of previous attempts to study the D1/D5 receptor modulation of I(Nap), we demonstrate conclusively that D1/D5 receptor activation can increase the I(Nap) generated proximally, however questions still remain as to how D1/D5 receptor modulates Na(+) currents in the more distal initial segment where most of the I Nap is normally generated.

Feedback-related negativity observed in rodent anterior cingulate cortex.

The feedback-related negativity (FRN) refers to a difference in the human event-related potential (ERP) elicited by feedback indicating success versus failure: the difference appears negative when subtracting the success ERP from the failure ERP (Miltner et al., 1997). Although source localization techniques (e.g., BESA) suggest that the FRN is produced in the ACC, the inverse problem (that any given scalp distribution can be produced by an infinite number of possible dipole configurations) limits the certainty of this conclusion. The inverse problem can be circumvented by directly recording from the ACC in animal models. Although a non-human primate homologue of the FRN has been observed in the macaque monkey (e.g. Emeric et al., 2008), a homologue of the FRN has yet to be identified in rodents. We recorded local field potentials (LFPs) directly from the ACC in 6 rodents in a task based on the FRN paradigm. The animals were trained to poke their nose into a lighted port and received a feedback smell indicating whether or not a reward pellet would drop 1.5s later. We observed a FRN-like effect time-locked to the feedback scent whereby the LFP to feedback predicting no-reward was significantly more negative than the LFP to feedback predicting reward. This deflection began on average 130ms before behavioral changes in response to the feedback. Thus, we provide the first evidence of the existence of a rodent homologue of the FRN.

Differences in the emergent coding properties of cortical and striatal ensembles.

The function of a given brain region is often defined by the coding properties of its individual neurons, yet how this information is combined at the ensemble level is an equally important consideration. We recorded multiple neurons from the anterior cingulate cortex (ACC) and the dorsal striatum (DS) simultaneously as rats performed different sequences of the same three actions. Sequence and lever decoding was markedly similar on a per-neuron basis in the two regions. At the ensemble level, sequence-specific representations in the DS appeared synchronously, but transiently, along with the representation of lever location, whereas these two streams of information appeared independently and asynchronously in the ACC. As a result, the ACC achieved superior ensemble decoding accuracy overall. Thus, the manner in which information was combined across neurons in an ensemble determined the functional separation of the ACC and DS on this task.

Tracking progress toward a goal in corticostriatal ensembles.

When performing sequences of actions, we constantly keep track of our current position in the sequence relative to the overall goal. The present study searched for neural representations of sequence progression in corticostriatal circuits. Neurons within the anterior cingulate cortex (ACC) and its target region in the dorsal striatum (DS) were recorded from simultaneously as rats performed different sequences of lever presses. We analyzed the responses of the neurons to presses occurring in the "first," "second," or "third" serial position regardless of the particular sequence or physical levers. Principal component analysis revealed that the main source of firing rate variance in the ACC was a smooth ramp-like change as the animal progressed through the sequence toward the reward. No such smooth-ramping activity was observed in DS ensembles as firing tended to be tightly linked to each action. In the ACC, the progression in firing was observed only for correct choices and not errors, whereas in the DS, firing associated with each action in a sequence was similar regardless of whether the action was correct or not. Therefore, different forms of a signal exist within corticostriatal circuits that evolve across a sequence of actions, with DS ensembles tracking every action and ACC ensembles tracking actual progress toward the goal.