Purkinje cells (PCs) primarily project to cerebellar nuclei but also directly innervate the brainstem. Some PC-brainstem projections have been described previously, but most have not been thoroughly characterized. Here, we use a PC-specific cre line to anatomically and electrophysiologically characterize PC projections to the brainstem. PC synapses are surprisingly widespread, with the highest densities found in the vestibular and parabrachial nuclei. However, there are pronounced regional differences in synaptic densities within both the vestibular and parabrachial nuclei. Large optogenetically evoked PC-IPSCs are preferentially observed in subregions with the highest densities of putative PC boutons, suggesting that PCs selectively influence these areas and the behaviors they regulate. Unexpectedly, the pontine central gray and nearby subnuclei also contained a low density of putative PC boutons, and large PC-IPSCs are observed in a small fraction of cells. We combined electrophysiological recordings with immunohistochemistry to assess the molecular identities of two potential PC targets: PC synapses onto mesencephalic trigeminal neurons were not observed even though these cells are in close proximity to PC boutons; PC synapses onto locus coeruleus neurons are exceedingly rare or absent, even though previous studies concluded that PCs are a major input to these neurons. The availability of a highly selective cre line for PCs allowed us to study functional synapses, while avoiding complications that can accompany the use of viral approaches. We conclude that PCs directly innervate numerous brainstem nuclei, and in many nuclei they strongly inhibit a small fraction of cells. This suggests that PCs selectively target cell types with specific behavioral roles in the brainstem.

Skillful object manipulation requires a representation of the object’s dynamics. Despite extensive research, previous studies have not been able to provide a consistent view of this representation in the motor system, with each study providing evidence favoring an extrinsic coordinate system, an intrinsic coordinate system, an object-based representation, or mixtures of these coordinate systems. In a series of experiments, we show that the motor system combines different representations based on their reliability. Specifically, since noise creates an error between planned and executed force production which depends on the arm state, the motor system will rely more on the representation for which the plan is less affected. In addition, we show that the same mechanism predicts the different results made about dynamics representation and thus explains the discrepancies between influential past studies. Overall, we are able to reconcile all of the apparently disparate findings under a single cohesive model of dynamics representation.