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In an environment full of potential goals, how does the brain determine which movement to execute? Existing theories posit that the motor system prepares for all potential goals by generating several motor plans in parallel. One major line of evidence for such theories is that presenting two competing goals often results in a movement intermediate between them. These intermediate movements are thought to reflect an unintentional averaging of the competing plans. However, normative theoriesdoi:10.1038/ncomms14624 pmid:28256513 pmcid:PMC5337982 fatcat:vzvkni247neelgble5mbk5f5vu