I'm mainly going to comment on the execution of the paper since I'm currently not very knowledgeable in the computational neuroscience of navigation in the brain: -Although it is easy to understand the paper content at a high level, I found it quite difficult to understand some important details, requiring multiple passes over the text to make sense of them. Examples: i) There are non-bold letters that denote continuous distributions over space (G, P), and boldfaced versions of them that represent "discretized" vectors that are grid and place cell responses. Is this mapping a simple discretization of the support of the probability functions? If not, what is the mapping? I guess this is a discretization at landmark locations for place cells (one landmark per place cell). Is it the same thing for the grid cells?