“…These models propose that novel behaviors are first acquired via a dopamine-dependent plasticity mechanism within the basal ganglia, and that with consistent performance, control of behavior is transferred to cortex via a Hebbian cortico–cortical plasticity mechanism. This idea has been applied to categorization learning and instrumental conditioning (Ashby et al, 2007), sequence learning (Hélie, Roeder, Vucovich, Rünger, & Ashby, 2015) and to action selection in probabilistic environments (Topalidou, Kase, Boraud, & Rougier, 2017), and it has been suggested to describe how basal-ganglia-dependent behavior becomes automatic in general (Hélie, Ell, & Ashby, 2015). Though the cortical module of these models is conceptually similar to our habitual controller, the basal ganglia module is different from our goal-directed controller in important ways: its learning rule instantiates a version of model-free RL, which tends to repeat actions in situations where they have led to reinforcement in the past, but does not learn about the particular outcomes that are expected to follow each action.…”