Lateralized dopaminergic neuron activity encodes goal-directed turning

Animals navigate through dynamic environments in search of resources. Dopaminergic systems are known to control movement and assign motivational value to cues, actions and outcomes, but how they guide ongoing locomotion towards a goal remains unclear. Here, we demonstrate that Drosophila mushroom body innervating dopaminergic neurons encode steering signals in world-centred (allocentric) and body-centred (egocentric) coordinates during goal-directed navigation. Thirsty flies track water vapour through upwind directed turning and locomotion, that persists for several seconds after the vapour disappears. We identified a population of rewarding dopaminergic neurons to be specifically required for maintaining directed tracking following vapour offset. Recordings of these dopaminergic neurons during behaviour revealed delayed bilateral activity that followed upwind-directed turning in allocentric coordinates. Moreover, lateralized ipsilateral activity in a subset of these dopaminergic neurons encode whether the fly turns left or right in egocentric coordinates. Finally, these dopaminergic neurons also exhibited increased ipsilateral activity when turning in the direction where water vapour was previously encountered. Therefore, activity of mushroom body dopaminergic neurons represents steering and direction-specific actions that together maintain goal-directed tracking in turbulent environments.