Inferential planning in the frontal cortex

Abstract How the brain plans and maintains sequences of future actions remains a central question in systems neuroscience. Recent studies in the frontal cortex have revealed that multiple elements of a sequence are represented simultaneously in separable neural subspaces, challenging classical serial models of sequential planning. Here, we show that these representations emerge naturally under inferential planning in which sequential actions are inferred from sensory evidence and goals. Using a hierarchical generative model, we reproduce key neural phenomena observed in primate frontal cortex, including the simultaneous activation of multiple plan elements, the emergence of (almost) orthogonal ‘memory’ subspaces, and their reuse across forward and backward sequence tasks. Our approach provides a mechanistic account of how probabilistic inference over control states gives rise to distributed and dynamic neural representations of plans. This framework not only unifies previously disparate findings on planning, working memory, and motor preparation, but also generates novel, testable predictions about the dynamics of active inference, the role of sensory subspaces, and the impact of uncertainty on sequence processing.