Reaching for the unknown: Multiple target encoding and real-time decision-making in a rapid reach task

Influence of age and cognitive demand on motor decision making under uncertainty: a study on goal directed reaching movements

In everyday life, we constantly make decisions about actions to be performed subsequently. Research on motor decision making has provided empirical evidence for an influence of decision uncertainty on movement execution in young adults. Further, decision uncertainty was suggested to be increased in older adults due to limited cognitive resources for the integration of information and the prediction of the decision outcomes. However, the influence of cognitive aging on decision uncertainty during motor decision making and movement execution has not been investigated, yet. Thus, in the current study, we presented young and older adults with a motor decision making task, in which participants had to decide on pointing towards one out of five potential targets under varying cognitive demands. Statistical analyses revealed stronger decreases in correctly deciding upon the pointing target, i.e. task performance, from low to higher cognitive demand in older as compared to young adults. Decision confidence also decreased more strongly in older adults with increasing cognitive demand, however, only when collapsing across correct and incorrect decision trials, but not when considering correct decision trials, only. Further, older adults executed reaching movements with longer reaction times and increased path length, though the latter, again, not when considering correct decision trials, only. Last, reaction time and variability in movement execution were both affected by cognitive demand. The outcomes of this study provide a differentiated picture of the distinct and joint effects of aging and cognitive demand during motor decision making.

Rapid, systematic updating of movement by accumulated decision evidence

Acting in the natural world requires not only deciding among multiple options but also converting decisions into motor commands. How the dynamics of decision formation influence the fine kinematics of response movement remains, however, poorly understood. Here we investigate how the accumulation of decision evidence shapes the response orienting trajectories in a task where freely-moving rats combine prior expectations and auditory information to select between two possible options. Response trajectories and their motor vigor are initially determined by the prior. Rats movements then incorporate sensory information as early as 60 ms after stimulus onset by accelerating or slowing depending on how much the stimulus supports their initial choice. When the stimulus evidence is in strong contradiction, rats change their mind and reverse their initial trajectory. Human subjects performing an equivalent task display a remarkably similar behavior. We encapsulate these results in a computational model that, by mapping the decision variable onto the movement kinematics at discrete time points, captures subjects' choices, trajectories and changes of mind. Our results show that motor responses are not ballistic. Instead, they are systematically and rapidly updated, as they smoothly unfold over time, by the parallel dynamics of the underlying decision process.

Behavioral measurements of motor readiness in mice

Motor planning facilitates rapid and precise execution of volitional movements. Although motor planning has been classically studied in humans and monkeys, the mouse has become an increasingly popular model system to study neural mechanisms of motor planning. It remains yet untested whether mice and primates share common behavioral features of motor planning. We combined videography and a delayed response task paradigm in an autonomous behavioral system to measure motor planning in non-body-restrained mice. Motor planning resulted in both reaction time (RT) savings and increased movement accuracy, replicating classic effects in primates. We found that motor planning was reflected in task-relevant body features. Both the specific actions prepared and the degree of motor readiness could be read out online during motor planning. The online readout further revealed behavioral evidence of simultaneous preparation for multiple actions under uncertain conditions. These results validate the mouse as a model to study motor planning, demonstrate body feature movements as a powerful real-time readout of motor readiness, and offer behavioral evidence that motor planning can be a parallel process that permits rapid selection of multiple prepared actions.

Continuous evaluation of cost-to-go for flexible reaching control and online decisions

Humans consider the parameters linked to movement goal during reaching to adjust their control strategy online. Indeed, rapid changes in target structure or disturbances interfering with their initial plan elicit rapid changes in behavior. Here, we hypothesize that these changes could result from the continuous use of a decision variable combining motor and cognitive components. We combine an optimal feedback controller with a real-time evaluation of the expected cost-to-go, which considers target- and movement-related costs, in a common theoretical framework. This model reproduces human behaviors in presence of changes in the target structure occurring during movement and of online decisions to flexibly change target following external perturbations. It also predicts that the time taken to decide to select a novel goal after a perturbation depends on the amplitude of the disturbance and on the rewards of the different options, which is a direct result of the continuous monitoring of the cost-to-go. We show that this result was present in our previously collected dataset. Together our developments point towards a continuous evaluation of the cost-to-go during reaching to update control online and make efficient decisions about movement goal.

Utterance planning under message uncertainty: evidence from a novel picture-naming paradigm

Language researchers view utterance planning as implicit decision-making: producers must choose the words, sentence structures, and various other linguistic features to communicate their message. To date, much of the research on utterance planning has focused on situations in which the speaker knows the full message to convey. Less is known about circumstances in which speakers begin utterance planning before they are certain about their message. In three picture-naming experiments, we used a novel paradigm to examine how speakers plan utterances before a full message is known. In Experiments 1 and 2, participants viewed displays showing two pairs of objects, followed by a cue to name one pair. In an Overlap condition, one object appeared in both pairs, providing early information about one of the objects to name. In a Different condition, there was no object overlap. Across both spoken and typed responses, participants tended to name the overlapping target first in the Overlap condition, with shorter initiation latencies compared with other utterances. Experiment 3 used a semantically constraining question to provide early information about the upcoming targets, and participants tended to name the more likely target first in their response. These results suggest that in situations of uncertainty, producers choose word orders that allow them to begin early planning. Producers prioritize message components that are certain to be needed and continue planning the rest when more information becomes available. Given similarities to planning strategies for other goal-directed behaviors, we suggest continuity between decision-making processes in language and other cognitive domains.

Single-Trial Dynamics of Competing Reach Plans in the Human Motor Periphery

Contemporary motor control theories propose competition between multiple motor plans before the winning command is executed. While most competitions are completed before movement onset, movements are often initiated before the competition has been resolved. An example of this is saccadic averaging, wherein the eyes land at an intermediate location between two visual targets. Behavioral and neurophysiological signatures of competing motor commands have also been reported for reaching movements, but debate remains about whether such signatures attest to an unresolved competition, arise from averaging across many trials, or reflect a strategy to optimize behavior given task constraints. Here, we recorded EMG activity from an upper limb muscle (m. pectoralis) while 12 (8 female) participants performed an immediate response reach task, freely choosing between one of two identical and suddenly presented visual targets. On each trial, muscle recruitment showed two distinct phases of directionally tuned activity. In the first wave, time-locked ∼100 ms of target presentation, muscle activity was clearly influenced by the nonchosen target, reflecting a competition between reach commands that was biased in favor of the ultimately chosen target. This resulted in an initial movement intermediate between the two targets. In contrast, the second wave, time-locked to voluntary reach onset, was not biased toward the nonchosen target, showing that the competition between targets was resolved. Instead, this wave of activity compensated for the averaging induced by the first wave. Thus, single-trial analysis reveals an evolution in how the nonchosen target differentially influences the first and second wave of muscle activity.SIGNIFICANCE STATEMENT Contemporary theories of motor control suggest that multiple motor plans compete for selection before the winning command is executed. Evidence for this is found in intermediate reach movements toward two potential target locations, but recent findings have challenged this notion by arguing that intermediate reaching movements reflect an optimal response strategy. By examining upper limb muscle recruitment during a free-choice reach task, we show early recruitment of a suboptimal averaged motor command to the two targets that subsequently transitions to a single motor command that compensates for the initially averaged motor command. Recording limb muscle activity permits single-trial resolution of the dynamic influence of the nonchosen target through time.

Stimulus salience conflicts and colludes with endogenous goals during urgent choices

Selecting where to look next depends on both the salience of objects and current goals (what we are looking for), but discerning their relative contributions over the time frame of typical visuomotor decisions (200-250 ms) has been difficult. Here we investigate this problem using an urgent choice task with which the two contributions can be dissociated and tracked moment by moment. Behavioral data from three monkeys corresponded with model-based predictions: when salience favored the target, perceptual performance evolved rapidly and steadily toward an asymptotic level; when salience favored the distracter, many rapid errors were produced and the rise in performance took more time-effects analogous to oculomotor and attentional capture. The results show that salience has a brief (∼50 ms) but inexorable impact that leads to exogenous, involuntary capture, and this can either help or hinder performance, depending on the alignment between salience and ongoing internal goals.

Parallel movement planning is achieved via an optimal preparatory state in motor cortex

How do patterns of neural activity in the motor cortex contribute to the planning of a movement? A recent theory developed for single movements proposes that the motor cortex acts as a dynamical system whose initial state is optimized during the preparatory phase of the movement. This theory makes important yet untested predictions about preparatory dynamics in more complex behavioral settings. Here, we analyze preparatory activity in non-human primates planning not one but two movements simultaneously. As predicted by the theory, we find that parallel planning is achieved by adjusting preparatory activity within an optimal subspace to an intermediate state reflecting a trade-off between the two movements. The theory quantitatively accounts for the relationship between this intermediate state and fluctuations in the animals' behavior down at the trial level. These results uncover a simple mechanism for planning multiple movements in parallel and further point to motor planning as a controlled dynamical process.

Behavioral measurements of motor readiness in mice

Motor planning facilitates rapid and precise execution of volitional movements. Although motor planning has been classically studied in humans and monkeys, the mouse has become an increasingly popular model system to study neural mechanisms of motor planning. It remains yet untested whether mice and primates share common behavioral features of motor planning. We combined videography and a delayed response task paradigm in an autonomous behavioral system to measure motor planning in non-body- restrained mice. Motor planning resulted in both reaction time savings and increased movement accuracy, replicating classic effects in primates. We found that motor planning was reflected in task-relevant body features. Both the specific actions prepared and the degree of motor readiness could be read out online during motor planning. The online readout further revealed behavioral evidence of simultaneous preparation for multiple actions under uncertain conditions. These results validate the mouse as a model to study motor planning, demonstrate body feature movements as a powerful real-time readout of motor readiness, and offer behavioral evidence that motor planning can be a parallel process that permits rapid selection of multiple prepared actions.

A mouse-tracking study of the composite nature of the Stroop effect at the level of response execution

By forcing selection into response execution processes, the present mouse-tracking study investigated whether the ongoing process of response selection in the colour-word Stroop task is influenced by conflict and facilitation at both the level of response and stimulus. Mouse-tracking measures including partial errors provided credible evidence that both response and semantic conflict (i.e., distinct constituents of interference) contribute to the overall Stroop interference effect even after a response has been initiated. This contribution was also observed for the overall facilitation effect (that was credibly decomposed into response and semantic components in response times but not in mouse deviation measures). These results run counter to the dominant single-stage response competition models that currently fail to explain: 1) the expression of Stroop effects in measures of response execution and; 2) the composite nature of both interference and facilitation. By showing that Stroop effects-originating from multiple levels of processing-can cascade into movement parameters, the present study revealed the potential overlap between selection and execution process. It therefore calls for further theoretical efforts to account for when, where and under what conditions Stroop effects originating from different loci are controlled.

Six of one, half dozen of the other: Suboptimal prioritizing for equal and unequal alternatives

It is possible to accomplish multiple goals when available resources are abundant, but when the tasks are difficult and resources are limited, it is better to focus on one task and complete it successfully than to divide your efforts and fail on both. Previous research has shown that people rarely apply this logic when faced with prioritizing dilemmas. The pairs of tasks in previous research had equal utility, which according to some models, can disrupt decision-making. We investigated whether the equivalence of two tasks contributes to suboptimal decisions about how to prioritize them. If so, removing or manipulating the arbitrary nature of the decision between options should facilitate optimal decisions about whether to focus effort on one goal or divide effort over two. Across all three experiments, however, participants did not appropriately adjust their decisions with task difficulty. The only condition in which participants adopted a strategy that approached optimal was when they had voluntarily placed more reward on one task over the other. For the task that was more rewarded, choices were modified more effectively with task difficulty. However, participants were more likely to choose to distribute rewards equally than unequally. The results demonstrate that situations involving choices between options with equal utility are not avoided and are even slightly preferred over unequal options, despite unequal options having larger potential gains and leading to more effective prioritizing strategies.

A neurocomputational theory of action regulation predicts motor behavior in neurotypical individuals and patients with Parkinson’s disease

Surviving in an uncertain environment requires not only the ability to select the best action, but also the flexibility to withhold inappropriate actions when the environmental conditions change. Although selecting and withholding actions have been extensively studied in both human and animals, there is still lack of consensus on the mechanism underlying these action regulation functions, and more importantly, how they inter-relate. A critical gap impeding progress is the lack of a computational theory that will integrate the mechanisms of action regulation into a unified framework. The current study aims to advance our understanding by developing a neurodynamical computational theory that models the mechanism of action regulation that involves suppressing responses, and predicts how disruption of this mechanism can lead to motor deficits in Parkinson’s disease (PD) patients. We tested the model predictions in neurotypical individuals and PD patients in three behavioral tasks that involve free action selection between two opposed directions, action selection in the presence of conflicting information and abandoning an ongoing action when a stop signal is presented. Our results and theory suggest an integrated mechanism of action regulation that affects both action initiation and inhibition. When this mechanism is disrupted, motor behavior is affected, leading to longer reaction times and higher error rates in action inhibition.

Bounded rational decision-making models suggest capacity-limited concurrent motor planning in human posterior parietal and frontal cortex

While traditional theories of sensorimotor processing have often assumed a serial decision-making pipeline, more recent approaches have suggested that multiple actions may be planned concurrently and vie for execution. Evidence for the latter almost exclusively stems from electrophysiological studies in posterior parietal and premotor cortex of monkeys. Here we study concurrent prospective motor planning in humans by recording functional magnetic resonance imaging (fMRI) during a delayed response task engaging movement sequences towards multiple potential targets. We find that also in human posterior parietal and premotor cortex delay activity modulates both with sequence complexity and the number of potential targets. We tested the hypothesis that this modulation is best explained by concurrent prospective planning as opposed to the mere maintenance of potential targets in memory. We devise a bounded rationality model with information constraints that optimally assigns information resources for planning and memory for this task and determine predicted information profiles according to the two hypotheses. When regressing delay activity on these model predictions, we find that the concurrent prospective planning strategy provides a significantly better explanation of the fMRI-signal modulations. Moreover, we find that concurrent prospective planning is more costly and thus limited for most subjects, as expressed by the best fitting information capacities. We conclude that bounded rational decision-making models allow relating both behavior and neural representations to utilitarian task descriptions based on bounded optimal information-processing assumptions.

When the future is uncertain, it can be beneficial to concurrently plan several action possibilities in advance. Electrophysiological research found evidence in monkeys that brain regions in posterior parietal and promotor cortex are indeed capable of planning several actions in parallel. We now used fMRI to study brain activity in these brain regions in humans. For our analyses we applied bounded rationality models that optimally assign information resources to fMRI activity in a complex motor planning task. We find that theoretical information costs of concurrent prospective planning explained fMRI activity profiles significantly better than assuming alternative memory-based strategies. Moreover, exploiting the model allowed us to quantify the individual capacity limit for concurrent planning and to relate these individual limits to both subjects’ behavior and to their neural representations of planning.

Anticipatory action planning for stepping onto competing potential targets

The brain plans an anticipatory action for performing tasks successfully and effortlessly even if there are multiple possible options. There is increasing evidence that, when multiple actions are possible, the brain considers two factors when planning an anticipatory action—the probabilistic value and the action cost for each potential action. When the action involves maintaining upright balance, such as standing, stepping, or walking, the action cost for maintaining postural stability could be considered dominantly. We addressed this issue by using a “go-before-you-know” task to step onto a target on the floor. In this task, two potential targets were located on the medial or lateral side of the stepping foot, and the true target was cued only after participants shifted their loads to leave that foot. Participants initiated their stepping actions without knowing which of the potential targets would be the true one. The results showed that, for the majority of participants, lateral displacements of the center of pressure (COP) with two potential targets were similar to those when a single target exists on the individual’s medial side. Given that mediolateral postural stability became more destabilized with stepping onto the medial target than stepping onto the lateral target, they were likely to plan their mediolateral components of the postural adjustments for the worst-case scenario (i.e., falling). Additionally, posterior COP movements with two potential targets became smaller than those with a single target, suggesting an effort to create extra time to determine the true target and to adjust the swing foot. Based on these findings, we concluded that action costs for maintaining postural stability were considered dominantly for planning an anticipatory action to accomplish a stepping task successfully while ensuring upright balance.

Catch the star! Spatial information activates the manual motor system

Previous research demonstrated a close bidirectional relationship between spatial attention and the manual motor system. However, it is unclear whether an explicit hand movement is necessary for this relationship to appear. A novel method with high temporal resolution–bimanual grip force registration–sheds light on this issue. Participants held two grip force sensors while being presented with lateralized stimuli (exogenous attentional shifts, Experiment 1), left- or right-pointing central arrows (endogenous attentional shifts, Experiment 2), or the words "left" or "right" (endogenous attentional shifts, Experiment 3). There was an early interaction between the presentation side or arrow direction and grip force: lateralized objects and central arrows led to a larger increase of the ipsilateral force and a smaller increase of the contralateral force. Surprisingly, words led to the opposite pattern: larger force increase in the contralateral hand and smaller force increase in the ipsilateral hand. The effect was stronger and appeared earlier for lateralized objects (60 ms after stimulus presentation) than for arrows (100 ms) or words (250 ms). Thus, processing visuospatial information automatically activates the manual motor system, but the timing and direction of this effect vary depending on the type of stimulus.

Different planning policies for the initial movement velocity depending on whether the known uncertainty is in the cursor or in the target: Motor planning in situations where two potential movement distances exist

During goal-directed behaviors, individuals can be required to start a movement before deciding on the final goal. Previous studies have focused on the initial movement direction in situations involving multiple targets in different directions from the starting position and have shown that the movement is initiated in the average direction among the target directions. However, the previous studies only included situations with targets at equivalent distances, and the characteristics of motor planning in situations with multiple movement possibilities over different potential distances are unclear. In such situations, movement velocity is another important control variable. Furthermore, while previous studies examined situations with an uncertain motor target position, uncertainty can also exist in the effector position (e.g., body or tool locations). Therefore, we examined (1) whether the average output is confirmed in the initial movement velocity during execution in situations involving two potential movements with different distances. In addition, we examined (2) whether planning of the movement velocity can differ depending on the presence of uncertainty in the cursor or the target. In the main conditions, the participants were required to start a reaching movement with two potential movement distances; in the two-cursor condition, two cursors were presented before the start of the trial, and in the two-target condition, two targets were presented. As a control condition, a distance condition corresponding to each main condition was also performed. In the control condition, the initial movement velocity varied linearly with distance. Then, we tested whether the initial movement velocity in situations with two potential movement distances would follow the averaging output of the corresponding control condition. The results revealed that while the initial movement velocity in the two-target condition was slower than the averaging output, that in the two-cursor condition approached the averaging output. These results suggest that the velocity profile of the goal-directed movement is not simply averaged in a situation where two potential targets exist, and that there is a difference in the planning policy of the initial movement depending on whether the known uncertainty is for the movement goal or the effector.

Compensative movement ameliorates reduced efficacy of rapidly-embodied decisions in humans

Dynamic environments, such as sports, often demand rapid decision-making and motor execution. The concept of embodied decision refers to the mutual link between both processes, but little is known about how these processes are balanced under severe time constraints. We address this problem by using a baseball-like hitting paradigm with and without Go/No-go judgment; participants were required to hit (Go) a moving target in the strike area or not to hit (No-go) other targets. We found that Go/No-go judgments were effective with regard to task performance, but efficacy was lost below the time constraint of 0.5 seconds mainly due to a reduction in judgment accuracy rather than movement accuracy. However, either slowing movement initiation in Go trials or canceling the movement in progress in No-go trials improved judgment accuracy. Our findings suggest that embodied decision efficacy is limited in split-second periods, but compensation is possible by changing ongoing movement strategies.

Motor Plans under Uncertainty Reflect a Trade-Off between Maximizing Reward and Success

When faced with multiple potential movement options, individuals either reach directly to one of the options, or initiate a reach intermediate between the options. It remains unclear why people generate these two types of behaviors. Using the go-before-you-know task (commonly used to study behavior under choice uncertainty) in humans, we examined two key questions. First, do these two types of responses actually reflect distinct movement strategies? If so, the relative desirability (i.e., weighing the success likelihood vs the attainable reward) of the two target options would not need to be computed identically for direct and intermediate reaches. We showed that indeed, when reward and success likelihood differed between the two options, reach direction was preferentially biased toward different directions for direct versus intermediate reaches. Importantly, this suggests that the computation of subjective values depends on the choice of movement strategy. Second, what drives individual differences in how people respond under uncertainty? We found that risk/reward-seeking individuals tended to generate more intermediate reaches and were more responsive to changes in reward, suggesting these movements may reflect a strategy to maximize reward versus success. Together, these findings suggest that when faced with choice uncertainty, individuals adopt movement strategies consistent with their risk/reward attitude, preferentially biasing behavior toward exogenous rewards or endogenous success and consequently modulating the relative desirability of the available options.

Reward-Dependent Selection of Feedback Gains Impacts Rapid Motor Decisions

Target reward influences motor planning strategies through modulation of movement vigor. Considering current theories of sensorimotor control suggesting that movement planning consists in selecting a goal-directed control strategy, we sought to investigate the influence of reward on feedback control. Here, we explored this question in three human reaching experiments. First, we altered the explicit reward associated with the goal target and found an overall increase in feedback gains for higher target rewards, highlighted by larger velocities, feedback responses to external loads, and background muscle activity. Then, we investigated whether the differences in target rewards across multiple goals impacted rapid motor decisions during movement. We observed idiosyncratic switching strategies dependent on both target rewards and, surprisingly, the feedback gains at perturbation onset: the more vigorous movements were less likely to switch to a new goal following perturbations. To gain further insight into a causal influence of the feedback gains on rapid motor decisions, we demonstrated that biasing the baseline activity and reflex gains by means of a background load evoked a larger proportion of target switches in the direction opposite to the background load associated with lower muscle activity. Together, our results demonstrate an impact of target reward on feedback control and highlight the competition between movement vigor and flexibility.

The dynamics of decision-making and action during active sampling

Embodied Cognition Theories (ECTs) of decision-making propose that the decision process pervades the execution of choice actions and manifests itself in these actions. Decision-making scenarios where actions not only express the choice but also help sample information can provide a valuable, ecologically relevant model for this framework. We present a study to address this paradigmatic situation in humans. Subjects categorized (2AFC task) a central object image, blurred to different extents, by moving a cursor toward the left or right of the display. Upward cursor movements reduced the image blur and could be used to sample information. Thus, actions for decision and actions for sampling were orthogonal to each other. We analyzed response trajectories to test whether information-sampling movements co-occurred with the ongoing decision process. Trajectories were bimodally distributed, with one kind being direct towards one response option (non-sampling), and the other kind containing an initial upward component before veering off towards an option (sampling). This implies that there was an initial decision at the early stage of a trial, whether to sample information or not. Importantly, in sampling trials trajectories were not purely upward, but rather had a significant horizontal deviation early on. This result suggests that movements to sample information exhibit an online interaction with the decision process, therefore supporting the prediction of the ECTs under ecologically relevant constrains.

Modulation of initial movement for double potential targets with specific time constraints

In goal-directed behavior, individuals are often required to plan and execute a movement with multiple competing reach targets simultaneously. The time constraint assigned to the target is an important factor that affect the initial movement planning, but the adjustments made to the starting behavior considering the time constraints specific to each target have not yet been clarified. The current study examined how humans adjusted their motor planning for double potential targets with independent time constraints under a go-before-you-know situation. The results revealed that the initial movements were modulated depending on the time constraints for potential targets. However, under tight time constraints, the performance in the double-target condition was lower than the single-target condition, which was a control condition implemented to estimate performance when one target is ignored. These results indicate that the initial movement for multiple potential targets with independent time constraints can be modified, but the planning is suboptimal.

Sensorimotor strategy selection under time constraints in the presence of two motor targets with different values

Goal-directed movements often require choosing an option from multiple potential goals under time constraints. However, there are limited studies on how humans change their time spent on decision-making and movement patterns according to time constraints. Here, we examined how sensorimotor strategies are selected under time constraints when the target values are uncertain. In the double-target condition, the values were uncertain until the movement onset and presented immediately afterwards. The behavior in this condition was compared to the single-target condition, in relation to time constraints and target-separation-angles. The results showed that the participants frequently used the choice-reaction even under tight time constraints, and their performance was consistently lower than that in the single-target condition. Additionally, in the double-target condition, differences in the movement trajectory depending on the time constraint and target-separation angle were confirmed. Specifically, the longer the time constraint, the higher the frequency of the intermediate behavior (to initiate movement toward the intermediate direction of two targets) or the change-of-mind behavior (to change the aiming target during movement). Furthermore, the smaller the target-separation angle, the higher the frequency of intermediate behavior, but the frequency of change-of-mind was not affected by the target-separation angle. These results suggest that the participants initiated the movement at an incomplete value judgment stage in some trials. Furthermore, they seemed to select a strategy to utilize the information obtained during the movement, taking into account the time constraints and target-separation angle. Our results show a consistent cognitive bias in choosing a higher value when multiple alternatives have different values. Additionally, we also suggest flexibility and adaptability in the movement patterns in response to time constraints.

Action planning and control under uncertainty emerge through a desirability-driven competition between parallel encoding motor plans

Living in an uncertain world, nearly all of our decisions are made with some degree of uncertainty about the consequences of actions selected. Although a significant progress has been made in understanding how the sensorimotor system incorporates uncertainty into the decision-making process, the preponderance of studies focus on tasks in which selection and action are two separate processes. First people select among alternative options and then initiate an action to implement the choice. However, we often make decisions during ongoing actions in which the value and availability of the alternatives can change with time and previous actions. The current study aims to decipher how the brain deals with uncertainty in decisions that evolve while acting. To address this question, we trained individuals to perform rapid reaching movements towards two potential targets, where the true target location was revealed only after the movement initiation. We found that reaction time and initial approach direction are correlated, where initial movements towards intermediate locations have longer reaction times than movements that aim directly to the target locations. Interestingly, the association between reaction time and approach direction was independent of the target probability. By modeling the task within a recently proposed neurodynamical framework, we showed that action planning and control under uncertainty emerge through a desirability-driven competition between motor plans that are encoded in parallel.

Motor planning under uncertainty

Actions often require the selection of a specific goal amongst a range of possibilities, like when a softball player must precisely position her glove to field a fast-approaching ground ball. Previous studies have suggested that during goal uncertainty the brain prepares for all potential goals in parallel and averages the corresponding motor plans to command an intermediate movement that is progressively refined as additional information becomes available. Although intermediate movements are widely observed, they could instead reflect a neural decision about the single best action choice given the uncertainty present. Here we systematically dissociate these possibilities using novel experimental manipulations and find that when confronted with uncertainty, humans generate a motor plan that optimizes task performance rather than averaging potential motor plans. In addition to accurate predictions of population-averaged changes in motor output, a novel computational model based on this performance-optimization theory accounted for a majority of the variance in individual differences between participants. Our findings resolve a long-standing question about how the brain selects an action to execute during goal uncertainty, providing fundamental insight into motor planning in the nervous system.

Action Costs Rapidly and Automatically Interfere with Reward-Based Decision-Making in a Reaching Task

It is widely assumed that we select actions we value the most. While the influence of rewards on decision-making has been extensively studied, evidence regarding the influence of motor costs is scarce. Specifically, how and when motor costs are integrated in the decision process is unclear. Twenty-two right-handed human participants performed a reward-based target selection task by reaching with their right arm toward one of two visual targets. Targets were positioned in different directions according to biomechanical preference, such that one target was systematically associated with a lower motor cost than the other. Only one of the two targets was rewarded, either in a congruent or incongruent manner with respect to the associated motor cost. A timed-response paradigm was used to manipulate participants' reaction times (RT). Results showed that when the rewarded target carried the highest motor cost, movements produced at short RT (<350 ms) were deviated toward the other (i.e., non-rewarded, low-cost (LC) target). In this context participants needed an additional 150-ms delay to reach the same percentage of rewarded trials as when the LC target was rewarded. Crucially, motor costs affected the total earnings of participants. These results demonstrate a robust interference of motor costs in a simple reward-based decision-making task. They point to the rapid and automatic integration of motor costs at an early stage of processing, potentially through the direct modulation of competing action representations in parieto-frontal regions. The progressive overcoming of this bias with increasing RT is likely achieved through top-down signaling pertaining to expected rewards.

Flexible planning of corrective responses for double-step reduction in the number of potential targets

Humans are often required to plan/execute movements in the presence of multiple motor targets simultaneously. Under such situations, it is widely confirmed that humans frequently initiate movements towards the weighted average direction of distinct motor plans toward each potential target. However, in situations where the potential targets change in a step-by-step manner, the strategy to proceed towards the weighted average direction at each time could be sub-optimal in light of the costs of the corrective response. Herein, we tested the sensorimotor strategy followed during a step-by-step reduction of potential goals. To test the hypothesis, we compared the corrective responses when the number of targets went from three to two, and when the number of targets went from three to one at the same time. As the results, weak corrections were confirmed when the number of targets was reduced from three to two. Moreover, the corrective responses when the number of targets went from three to two was smaller than the average behavior estimated from the corrective responses when the number of targets went from three to one at the same time. This pattern of corrective responses reflects the suppression of unnecessary corrections that generate noise and cost to the control system. These results suggest that the corrective responses are flexibly modulated depending on the necessity, and cannot be explained by weighted average behavior.

Reaching for known unknowns: Rapid reach decisions accurately reflect the future state of dynamic probabilistic information

Everyday tasks such as catching a ball appear effortless, but in fact require complex interactions and tight temporal coordination between the brain's visual and motor systems. What makes such interceptive actions particularly impressive is the capacity of the brain to account for temporal delays in the central nervous system-a limitation that can be mitigated by making predictions about the environment as well as one's own actions. Here, we wanted to assess how well human participants can plan an upcoming movement based on a dynamic, predictable stimulus that is not the target of action. A central stationary or rotating stimulus determined the probability that each of two potential targets would be the eventual target of a rapid reach-to-touch movement. We examined the extent to which reach movement trajectories convey internal predictions about the future state of dynamic probabilistic information conveyed by the rotating stimulus. We show that movement trajectories reflect the target probabilities determined at movement onset, suggesting that humans rapidly and accurately integrate visuospatial predictions and estimates of their own reaction times to effectively guide action.

Visuomotor associations facilitate movement preparation

Many motor skills require rapidly choosing a movement goal and preparing a movement to that goal, such as in sports where circumstances often change quickly and many actions are possible. Humans can benefit from learning the perceptual cues that predict the requirements of movement so that the choice of a movement goal and movement preparation can occur earlier. However, there remains uncertainty about how these perceptual cues are learned. Here we investigate the use and learning of these perceptual-motor associations. First, we ask if episodic memory for associations can support learning. In Experiment 1, participants first memorized associations between symbols and movement goals. When these symbols were subsequently presented as cues, reaching movements were prepared as efficiently as if the goals themselves were previewed, without the need for additional practice. Next, we ask whether statistical learning can be used to learn the associations. In Experiment 2, participants had to learn the associations during the movement task itself. This learning enabled efficient movement preparation, and the rate of improvement scaled with the number and complexity of associations. These findings suggest that movement preparation can be facilitated by perceptual cues via statistical learning and memory recall, highlighting a potential role for learning and memory systems not conventionally implicated in motor behavior. (PsycInfo Database Record (c) 2021 APA, all rights reserved).

The Psychology of Reaching: Action Selection, Movement Implementation, and Sensorimotor Learning

The study of motor planning and learning in humans has undergone a dramatic transformation in the 20 years since this journal's last review of this topic. The behavioral analysis of movement, the foundational approach for psychology, has been complemented by ideas from control theory, computer science, statistics, and, most notably, neuroscience. The result of this interdisciplinary approach has been a focus on the computational level of analysis, leading to the development of mechanistic models at the psychological level to explain how humans plan, execute, and consolidate skilled reaching movements. This review emphasizes new perspectives on action selection and motor planning, research that stands in contrast to the previously dominant representation-based perspective of motor programming, as well as an emerging literature highlighting the convergent operation of multiple processes in sensorimotor learning.

Reaching decisions during ongoing movements

Neurophysiological studies suggest that when decisions are made between concrete actions, the selection process involves a competition between potential action representations in the same sensorimotor structures involved in executing those actions. However, it is unclear how such models can explain situations, often encountered during natural behavior, in which we make decisions while were are already engaged in performing an action. Does the process of deliberation characterized in classical studies of decision-making proceed the same way when subjects are deciding while already acting? In the present study, human subjects continuously tracked a target moving in the horizontal plane and were occasionally presented with a new target to which they could freely choose to switch at any time, whereupon it became the new tracked target. We found that the probability of choosing to switch increased with decreasing distance to the new target and increasing size of the new target relative to the tracked target, as well as when the direction to the new target was aligned (either toward or opposite) to the current tracking direction. However, contrary to our expectations, subjects did not choose targets that minimized the energetic costs of execution, as calculated by a biomechanical model of the arm. When the constraints of continuous tracking were removed in variants of the task involving point-to-point movements, the expected preference for lower cost choices was seen. These results are discussed in the context of current theories of nested feedback control, internal models of forward dynamics, and high-dimensional neural spaces.NEW & NOTEWORTHY Current theories of decision-making primarily address how subjects make decisions before executing selected actions. However, in our daily lives we often make decisions while already performing some action (e.g., while playing a sport or navigating through a crowd). To gain insight into how current theories can be extended to such "decide-while-acting" scenarios, we examined human decisions during continuous manual tracking and found some intriguing departures from how decisions are made in classical "decide-then-act" paradigms.

A comparison of simple movement behaviors across three different devices

Reaching trajectories have provided a unique tool to observe changes in internal cognitive decisions. Furthermore, technological advances have made devices for measuring reach movements more accessible and researchers have recognized that various populations including children, elderly populations, and non-human primates can easily execute simple movements as responses. As a result, devices such as a three-dimensional (3D) reach tracker, a stylus, or a computer-mouse have been increasingly utilized to study cognitive processes. However, although the specific type of tracking device that a researcher uses may impact behavior due to the constraints it places on movements, most researchers in these fields are unaware of this potential issue. Here, we examined the potential behavioral impact of using each of these three devices. To induce re-directed movements that mimic the movements that often occur following changes in cognitive states, we used a double-step task in which displacement of an initial target location requires participants to quickly re-direct their movement. We found that reach movement parameters were largely comparable across the three devices. However, hand movements measured by a 3D reach tracker showed earlier reach initiation latencies (relative to stylus movements) and more curved movement trajectories (relative to both mouse and stylus movements). Reach movements were also re-directed following target displacement more rapidly. Thus, 3D reach trackers may be ideal for observing fast, subtle changes in internal decision-making processes compared to other devices. Taken together, this study provides a useful reference for comparing and implementing reaching studies to examine human cognition.

No one knows what attention is

In this article, we challenge the usefulness of "attention" as a unitary construct and/or neural system. We point out that the concept has too many meanings to justify a single term, and that "attention" is used to refer to both the explanandum (the set of phenomena in need of explanation) and the explanans (the set of processes doing the explaining). To illustrate these points, we focus our discussion on visual selective attention. It is argued that selectivity in processing has emerged through evolution as a design feature of a complex multi-channel sensorimotor system, which generates selective phenomena of "attention" as one of many by-products. Instead of the traditional analytic approach to attention, we suggest a synthetic approach that starts with well-understood mechanisms that do not need to be dedicated to attention, and yet account for the selectivity phenomena under investigation. We conclude that what would serve scientific progress best would be to drop the term "attention" as a label for a specific functional or neural system and instead focus on behaviorally relevant selection processes and the many systems that implement them.

Computer mouse tracking reveals motor signatures in a cognitive task of spatial language grounding

In a novel computer mouse tracking paradigm, participants read a spatial phrase such as "The blue item to the left of the red one" and then see a scene composed of 12 visual items. The task is to move the mouse cursor to the target item (here, blue), which requires perceptually grounding the spatial phrase. This entails visually identifying the reference item (here, red) and other relevant items through attentional selection. Response trajectories are attracted toward distractors that share the target color but match the spatial relation less well. Trajectories are also attracted toward items that share the reference color. A competing pair of items that match the specified colors but are in the inverse spatial relation increases attraction over-additively compared to individual items. Trajectories are also influenced by the spatial term itself. While the distractor effect resembles deviation toward potential targets in previous studies, the reference effect suggests that the relevance of the reference item for the relational task, not its role as a potential target, was critical. This account is supported by the strengthened effect of a competing pair. We conclude, therefore, that the attraction effects in the mouse trajectories reflect the neural processes that operate on sensorimotor representations to solve the relational task. The paradigm thus provides an experimental window through motor behavior into higher cognitive function and the evolution of activation in modal substrates, a longstanding topic in the area of embodied cognition.

Decision-making in sensorimotor control

Skilled sensorimotor interactions with the world result from a series of decision-making processes that determine, on the basis of information extracted during the unfolding sequence of events, which movements to make and when and how to make them. Despite this inherent link between decision-making and sensorimotor control, research into each of these two areas has largely evolved in isolation, and it is only fairly recently that researchers have begun investigating how they interact and, together, influence behaviour. Here, we review recent behavioural, neurophysiological and computational research that highlights the role of decision-making processes in the selection, planning and control of goal-directed movements in humans and nonhuman primates.

The validity and consistency of continuous joystick response in perceptual decision-making

A computer joystick is an efficient and cost-effective response device for recording continuous movements in psychological experiments. Movement trajectories and other measures from continuous responses have expanded the insights gained from discrete responses (e.g., button presses) by providing unique information about how cognitive processes unfold over time. However, few studies have evaluated the validity of joystick responses with reference to conventional key presses, and how response modality can affect cognitive processes. Here we systematically compared human participants' behavioral performance of perceptual decision-making when they responded with either joystick movements or key presses in a four-alternative motion discrimination task. We found evidence that the response modality did not affect raw behavioral measures, including decision accuracy and mean response time, at the group level. Furthermore, to compare the underlying decision processes between the two response modalities, we fitted a drift-diffusion model of decision-making to individual participants' behavioral data. Bayesian analyses of the model parameters showed no evidence that switching from key presses to continuous joystick movements modulated the decision-making process. These results supported continuous joystick actions as a valid apparatus for continuous movements, although we highlight the need for caution when conducting experiments with continuous movement responses.

Delta-Band Oscillations in Motor Regions Predict Hand Selection for Reaching

Current models hold that action selection is achieved by competitive interactions between co-existing motor representations associated with each potential action. Critically, selection via competition requires biasing signals to enable one of these alternatives to be selected. This study tested the hypothesis that selection is related to the prestimulus excitability of neuronal ensembles in which movements are encoded, as assessed through the phase of delta-band oscillations (2-4 Hz). Electroencephalography was recorded while participants performed speeded reaches toward appearing visual targets using the hand of their choice. The target locations were controlled such that only targets for which the left and right hands were selected equally often were used for analysis. Results revealed that hand selection as well as reach reaction times strongly depended upon the instantaneous phase of delta at the moment of target onset. This effect was maximal over contralateral motor regions, and occurred in the absence of prestimulus alpha- (8-12 Hz) and beta-band (15-30 Hz) amplitude modulations. These findings demonstrate that the excitability of motor regions acts as a modulatory factor for hand choice during reaching. They extend current models by showing that action selection is related to the underlying brain state independently of previously known decision variables.

Increased preparation time reduces, but does not abolish, action history bias of saccadic eye movements

The characteristics of movements are strongly history-dependent. Marinovic et al. (Marinovic W, Poh E, de Rugy A, Carroll TJ. eLife 6: e26713, 2017) showed that past experience influences the execution of limb movements through a combination of temporally stable processes that are strictly use dependent and dynamically evolving and context-dependent processes that reflect prediction of future actions. Here we tested the basis of history-dependent biases for multiple spatiotemporal features of saccadic eye movements under two preparation time conditions (long and short). Twenty people performed saccades to visual targets. To prompt context-specific expectations of most likely target locations, 1 of 12 potential target locations was specified on ~85% of the trials and each remaining target was presented on ~1% trials. In long preparation trials participants were shown the location of the next target 1 s before its presentation onset, whereas in short preparation trials each target was first specified as the cue to move. Saccade reaction times and direction were biased by recent saccade history but according to distinct spatial tuning profiles. Biases were purely expectation related for saccadic reaction times, which increased linearly as the distance from the repeated target location increased when preparation time was short but were similar to all targets when preparation time was long. By contrast, the directions of saccades were biased toward the repeated target in both preparation time conditions, although to a lesser extent when the target location was precued (long preparation). The results suggest that saccade history affects saccade dynamics via both use- and expectation-dependent mechanisms and that movement history has dissociable effects on reaction time and saccadic direction. NEW & NOTEWORTHY The characteristics of our movements are influenced not only by concurrent sensory inputs but also by how we have moved in the past. For limb movements, history effects involve both use-dependent processes due strictly to movement repetition and processes that reflect prediction of future actions. Here we show that saccade history also affects saccade dynamics via use- and expectation-dependent mechanisms but that movement history has dissociable effects on saccade reaction time and direction.

Target Uncertainty During Motor Decision-Making: The Time Course of Movement Variability Reveals the Effect of Different Sources of Uncertainty on the Control of Reaching Movements

The processes underlying motor decision-making have recently caught considerable amount of scientific attention, focusing on the integration of empirical evidence from sensorimotor control research with psychological theories and computational models on decision-making. Empirical studies on motor decision-making suggest that the kinematics of goal-directed reaching movements are sensitive to the level of target uncertainty during movement planning. However, the source of uncertainty as a relevant factor influencing the process of motor decision-making has not been sufficiently considered, yet. In this study, we test the assumption that the source of target uncertainty has an effect on motor decision-making, which can be proven by analyzing movement variability during the time course of movement execution. Ten healthy young adults performed three blocks with 66 trials of goal-directed reaching movements in each block, across which the source and level of reach target uncertainty at movement onset were manipulated (“no uncertainty”, “extrinsic uncertainty”, and “intrinsic uncertainty”). Fingertip position of the right index finger was recorded using an optical motion tracking system. Standard kinematic measures (i.e., path length and movement duration) as well as variability of fingertip position across the time course of movement execution and at movement end were analyzed. In line with previous studies, we found that a high level of extrinsic target uncertainty leads to increased overall movement duration, which could be attributed to increased path length in this condition, as compared to intrinsic and no target uncertainty (all p < 0.001). Movement duration and path length did not show any differences between the latter two conditions. However, the time course analysis of movement variability revealed significant differences between these two conditions, with increased variability of fingertip position in the presence of intrinsic target uncertainty (Condition × Sampling point: p = 0.01), though considerably less than under high extrinsic target uncertainty (p ≤ 0.001). These findings suggest that both the level and source of uncertainty have a significant effect on the processing of potential action plans during motor decision-making, which can be revealed through the analysis of the time course of movement variability at the end-effector level.

Visual Selection of the Future Reach Path in Obstacle Avoidance

In two EEG experiments, we studied the role of visual attention during the preparation of manual movements around an obstacle. Participants performed rapid hand movements to a goal position avoiding a central obstacle either on the left or right side, depending on the pitch of the acoustical go signal. We used a dot probe paradigm to analyze the deployment of spatial attention in the visual field during the motor preparation. Briefly after the go signal but still before the hand movement actually started, a visual transient was flashed either on the planned pathway of the hand (congruent trials) or on the opposite, movement-irrelevant side (incongruent trials). The P1/N1 components that were evoked by the onset of the dot probe were enhanced in congruent trials where the visual transient was presented on the planned path of the hand. The results indicate that, during movement preparation, attention is allocated selectively to the planned trajectory the hand is going to take around the obstacle.

Single reach plans in dorsal premotor cortex during a two-target task

In many situations, we are faced with multiple potential actions, but must wait for more information before knowing which to perform. Movement scientists have long asked whether in these delayed-response situations the brain plans both potential movements simultaneously, or if it simply chooses one and then switches later if necessary. To answer this question, we used simultaneously recorded activity from populations of neurons in macaque dorsal premotor cortex to track moment-by-moment deliberation between two potential reach targets. We found that the neural activity only ever indicated a single-reach plan (with some targets favored more than others), and that initial plans often predicted the monkeys’ behavior on both Free-Choice trials and incorrect Cued trials. Our results suggest that premotor cortex plans only one option at a time, and that decisions are strongly influenced by the initial response to the available set of movement options.

It is debated whether motor cortical activity reflects plans for multiple potential actions. Here, the authors report that in a delayed response task with two potential reach targets, population activity in the dorsal premotor cortex at any moment in time represents only one of the targets.

Confidence judgments during ratio comparisons reveal a Bayesian bias

Rational numbers are essential in mathematics and decision-making but humans often and erroneously rely on the magnitude of the numerator or denominator to determine the relative size of a quotient. The source of this flawed whole number strategy is poorly understood. Here we test the Bayesian hypothesis that the human bias toward large values in the numerator or denominator of a ratio estimate is the result of higher confidence in large samples. Larger values are considered a better (more certain) instance of that ratio than the same ratio composed of smaller values. We collected confidence measures explicitly (Experiment 1) and implicitly (Experiment 2) during subjects' comparisons of non-symbolic proportions (images with arrays of orange and blue dots). We manipulated the discernibility of the fractions to control difficulty and varied the cardinality and congruency of the numerators, denominators, and ratio values (e.g. 8/20 vs. 5/10 and 16/40 vs. 10/20). The results revealed that subjects' confidence during ratio comparisons was modulated by the numerical magnitude of the fraction's components, consistent with a Bayesian perception of relative ratios. The results suggest that the large number bias could arise from greater confidence in large samples.

Augmented Go/No-Go Task: Mouse Cursor Motion Measures Improve ADHD Symptom Assessment in Healthy College Students

Attention deficit/hyperactivity disorder (ADHD) is frequently characterized as a disorder of executive function (EF). However, behavioral tests of EF, such as go/No-go tasks, often fail to grasp the deficiency in EF revealed by questionnaire-based measures. This inability is usually attributed to questionnaires and behavioral tasks assessing different constructs of EFs. We propose an additional explanation for this discrepancy. We hypothesize that this problem stems from the lack of dynamic assessment of decision-making (e.g., continuous monitoring of motor behavior such as velocity and acceleration in choice reaching) in classical versions of behavioral tasks. We test this hypothesis by introducing dynamic assessment in the form of mouse motion in a go/No-go task. Our results indicate that, among healthy college students, self-report measures of ADHD symptoms become strongly associated with performance in behavioral tasks when continuous assessment (e.g., acceleration in the mouse-cursor motion) is introduced.

Reading Emotion From Mouse Cursor Motions: Affective Computing Approach

Affective computing research has advanced emotion recognition systems using facial expressions, voices, gaits, and physiological signals, yet these methods are often impractical. This study integrates mouse cursor motion analysis into affective computing and investigates the idea that movements of the computer cursor can provide information about emotion of the computer user. We extracted 16-26 trajectory features during a choice-reaching task and examined the link between emotion and cursor motions. Participants were induced for positive or negative emotions by music, film clips, or emotional pictures, and they indicated their emotions with questionnaires. Our 10-fold cross-validation analysis shows that statistical models formed from "known" participants (training data) could predict nearly 10%-20% of the variance of positive affect and attentiveness ratings of "unknown" participants, suggesting that cursor movement patterns such as the area under curve and direction change help infer emotions of computer users.