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

> Research article (PLoS Computational Biology, 2021) · cited 21× · AI/ML

**Wikidata**: [openalex:W3202610584](https://www.wikidata.org/wiki/openalex:W3202610584)  
**Source**: https://4ort.xyz/entity/action-planning-and-control-under-uncertainty-emerge-through-a-desirability-driven-competition-between-parallel-encoding