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Grid cells in the entorhinal cortex, together with head direction, place, speed and border cells, are major contributors to the organization of spatial representations in the brain. In this work we introduce a novel theoretical and algorithmic framework able to explain the optimality of hexagonal grid-like response patterns. We show that this pattern is a result of minimal variance encoding of neurons together with maximal robustness to neurons' noise and minimal number of encoding neurons. The novelty lies in the formulation of the en
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