Action plan co-optimization reveals the parallel encoding of competing reach movements.

Several influential cognitive theories propose that in situations affording more than one possible target of action, we prepare multiple competing movements before selecting one. Here we provide direct evidence for this provocative but largely untested idea and demonstrate why preparing multiple movements is computationally advantageous. Using a reaching task in which movements are initiated after one of two potential targets is cued, we show that the movement generated for the cued target borrows components of the movement that would have been required for the other, competing target. This interaction can only arise if multiple potential movements are fully specified in advance and we demonstrate that it reduces the time required to launch a given action plan. Our findings suggest that this co-optimization of motor plans is highly automatic and largely occurs outside conscious awareness.The study was supported by the Natural Sciences and Engineering Research Council of Canada; the Wellcome Trust; the Human Frontiers Science Program; and the Royal Society. J.P.G. was supported by Banting postdoctoral fellowship and CIHR postdoctoral fellowship awards.This is the final version of the article. It first appeared from Nature Publishing Group via http://dx.doi.org/10.1038/ncomms842