arXiv:2106.03580v5 Announce Type: replace Abstract: After learning a multiple paired-association (MPA) navigation task, rodents can rapidly learn new cue-location associations after a single exposure, a phenomenon proposed to be facilitated by cognitive schemas. However, it remains unclear what schemas support this behavior and how they could be implemented in biological neural circuits. Here, we identify a set of schemas sufficient for gradual then one-shot paired-association navigation, and implement them in a fully neural agent using biologically plausible plasticity rules. The agent gradually acquires a low-dimensional spatial metric representation using a path-integration based temporal-difference error, enabling self-localization across different environments. It also contains a memory network that forms one-shot associations between sensory cues and goal locations, implemented using reward-modulated exploratory Hebbian (EH) plasticity. A third network performs vector subtraction...