Complementary roles for hippocampus, anterior cingulate cortex, and orbitofrontal cortex in composing continuous choice

Naturalistic, goal directed behavior often requires continuous actions directed at dynamically changing goals. In this context, the closest analogue to choice is a strategic reweighting of multiple goal-specific control policies in response to shifting environmental pressures. To understand the algorithmic and neural bases of choice in continuous contexts, we examined behavior and brain activity in humans performing a continuous prey-pursuit task. Using a newly developed control-theoretic decomposition of behavior, we find pursuit strategies are well described by a meta-controller dictating a mixture of lower-level controllers, each linked to specific pursuit goals. We find that hippocampal neurons encode the policy blending variable in a value-invariant manner and monitor policy switches after they occur. ACC neurons encode policy switches in a value-dependent manner, with value related modulation detectable several hundred ms before the switch, alongside a ramping increase in mean firing rate toward the switch. Meanwhile, OFC activity is consistent with an encoding of the current value structure of the task, rather than policy switching. Together these results are consistent with a tripartite functional division in which hippocampus serves as a controller over behavior, ACC serves as a meta-controller, and OFC provides a value context signal. Overall, our results shed light onto the complex processes associated with choice during naturalistic continuous interactive behavior.