“…The transformation from egocentric to allocentric coordinates was proposed to occur in retrosplenial cortex, which has been shown to code both egocentric and allocentric reference frames (Alexander & Nitz, 2015Alexander, Rangel, Tingley, & Nitz, 2018). The prediction of a transformation from egocentric to allocentric coordinate frames was supported by the recent discovery of neurons coding the egocentric position of boundaries in the retrosplenial cortex as well as in associated structures involved in input or output from medial entorhinal cortex (Gofman et al, 2019;Hinman, Chapman, & Hasselmo, 2019;LaChance, Todd, & Taube, 2019). The computational modeling of tranformations from egocentric to allocentric coordinates has been used to model navigation in a range of environments, including navigating around barriers in cluttered environments (Bicanski & Burgess, 2018;Edvardsen, Bicanski, & Burgess, 2020).…”