An integrative computational approach for obstacle avoidance during action selection
7 affiliations
- 1Alfred E.Mann Department of Biomedical Engineering, University of Southern California, Los Angeles, California, United States of America
- 2Neuroscience graduate program, University of California Riverside, Riverside, California, United States of America
- 3Department of Neurological Surgery, UT Southwestern Medical Center, Dallas, Texas, United States of America
- 4Department of Computer Science and Engineering, University of Minnesota, Minneapolis, Minnesota, United States of America
- 5Department of Bioengineering, University of California Riverside, Riverside, California, United States of America
- 6Department of Neurological Surgery, Keck School of Medicine, University of Southern California, Los Angeles, California, United States of America
- 7Neurorestoration Center, Keck School of Medicine, University of Southern California, Los Angeles, California, United States of America
Abstract
Action selection in cluttered environments, where individuals must simultaneously pursue goals and avoid obstacles, presents a significant challenge for the brain. To understand the underlying mechanisms of action selection in such contexts, we propose a computational model that extends stochastic optimal control theory through a novel framework for obstacle avoidance. The model decomposes action selection into a weighted combination of individual control policies, each generated for either target approach or obstacle avoidance. By integrating value information from goals, obstacles, and actions into a unified measure of “relative desirability”, the model dynamically determines the contribution of each policy to the overall action selection process. We evaluated the framework using simulated target-reaching tasks in cluttered environments based on previous human studies. The results showed that the model qualitatively captures key features of human motor behavior, including the influence of obstacle properties on movement trajectories and the transient tendency to initiate movements toward obstacles before avoidance. This work offers new insights into the dynamic interaction between approach and avoidance behaviors, providing a basis for future studies of action selection in more complex and naturalistic settings. Author summary: Every day, we make countless movements that require us to reach for something while avoiding obstacles—for example, grabbing a cup without knocking over nearby objects. How the brain selects such actions in cluttered environments remains poorly understood. In this study, we developed a computational model to explore how people plan and control movements when both goals and obstacles are present. In our model, multiple potential actions are prepared at once—some for reaching the goal and others for avoiding obstacles—and then combined based on how desirable each option is at any moment. Using computer simulations of reaching movements, we found that the model qualitatively reproduced key patterns observed in human behavior, including the brief tendency to move toward an obstacle before steering away from it. By showing how continuous competition between approach and avoidance drives can reproduce characteristic behavioral patterns, our work offers a new way to understand how people make rapid and flexible movement decisions in complex, everyday settings.
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BibTeX
@article{zhong2026integrative,
title = {{An integrative computational approach for obstacle avoidance during action selection}},
author = {Shan Zhong and Nader Pouratian and Paul Schrater and Vassilios Christopoulos},
journal = {PLOS Computational Biology},
year = {2026},
month = oct,
doi = {10.1371/journal.pcbi.1013756},
url = {https://journals.plos.org/ploscompbiol/article?id=10.1371/journal.pcbi.1013756},
note = {CC BY 4.0},
}
RIS
TY - JOUR
TI - An integrative computational approach for obstacle avoidance during action selection
AU - Shan Zhong
AU - Nader Pouratian
AU - Paul Schrater
AU - Vassilios Christopoulos
PY - 2026
DA - 2026/10/26
JO - PLOS Computational Biology
DO - 10.1371/journal.pcbi.1013756
UR - https://journals.plos.org/ploscompbiol/article?id=10.1371/journal.pcbi.1013756
AB - Action selection in cluttered environments, where individuals must simultaneously pursue goals and avoid obstacles, presents a significant challenge for the brain. To understand the underlying mechanisms of action selection in such contexts, we propose a computational model that extends stochastic optimal control theory through a novel framework for obstacle avoidance. The model decomposes action selection into a weighted combination of individual control policies, each generated for either target approach or obstacle avoidance. By integrating value information from goals, obstacles, and actions into a unified measure of “relative desirability”, the model dynamically determines the contribution of each policy to the overall action selection process. We evaluated the framework using simulated target-reaching tasks in cluttered environments based on previous human studies. The results showed that the model qualitatively captures key features of human motor behavior, including the influence of obstacle properties on movement trajectories and the transient tendency to initiate movements toward obstacles before avoidance. This work offers new insights into the dynamic interaction between approach and avoidance behaviors, providing a basis for future studies of action selection in more complex and naturalistic settings. Author summary: Every day, we make countless movements that require us to reach for something while avoiding obstacles—for example, grabbing a cup without knocking over nearby objects. How the brain selects such actions in cluttered environments remains poorly understood. In this study, we developed a computational model to explore how people plan and control movements when both goals and obstacles are present. In our model, multiple potential actions are prepared at once—some for reaching the goal and others for avoiding obstacles—and then combined based on how desirable each option is at any moment. Using computer simulations of reaching movements, we found that the model qualitatively reproduced key patterns observed in human behavior, including the brief tendency to move toward an obstacle before steering away from it. By showing how continuous competition between approach and avoidance drives can reproduce characteristic behavioral patterns, our work offers a new way to understand how people make rapid and flexible movement decisions in complex, everyday settings.
SN - 1553-7358
SN - 1553-734X
ER -