Abstract
Animals generate a range of locomotor patterns that subserve diverse behaviors, and in vertebrates, the required supraspinal commands derive from reticulospinal neurons in the brainstem. Yet how these commands are encoded across the reticulospinal population is unknown, making it unclear whether a universal control logic generates the full locomotor repertoire or if distinct sets of command modules might compose movement in different behavioral contexts. Here, we used calcium imaging, high-resolution behavior tracking, and statistical modeling to comprehensively survey reticulospinal activity and relate single-cell activity to movement kinematics as larval zebrafish generated a broad diversity of swim types. We found that reticulospinal population activity had a low-dimensional organization and identified 8 functional archetypes that provided a succinct and robust encoding of the full range of locomotor actions. Across much of locomotor space, 5 functional archetypes supported multiplexed control of swim speed and independent control of direction, whereas an independent set of 3 functional archetypes controlled the specialized swims that zebrafish use during hunting to orient toward prey. Overall, our study reveals a modular supraspinal control architecture that is partitioned according to behavioral context.