Optimal decision making mandates organisms learn the relevant features of choice options. Likewise, knowing how much effort we should expend can assume paramount importance. A mesolimbic network supports reward learning, but it is unclear whether other choice features, such as effort learning, rely on this same network. Using computational fMRI, we show parallel encoding of effort and reward prediction errors (PEs) within distinct brain regions, with effort PEs expressed in dorsomedial prefrontal cortex and reward PEs in ventral striatum. We show a common mesencephalic origin for these signals evident in overlapping, but spatially dissociable, dopaminergic midbrain regions expressing both types of PE. During action anticipation, reward and effort expectations were integrated in ventral striatum, consistent with a computation of an overall net benefit of a stimulus. Thus, we show that motivationally relevant stimulus features are learned in parallel dopaminergic pathways, with formation of an integrated utility signal at choice. effort prediction errors | reward prediction errors | apathy | substantia nigra/ventral tegmental area | dorsomedial prefrontal cortex O rganisms need to make energy-efficient decisions to maximize benefits and minimize costs, a tradeoff exemplified in effort expenditure (1-3). A key example occurs during foraging, where an overestimation of effort can lead to inaction and starvation (4), whereas underestimation of effort can result in persistent failure, as exemplified in the myth of Sisyphus (5).In a naturalistic environment, we often simultaneously learn about success in expending sufficient effort into an action as well as the reward we obtain from this same action. The reward outcomes that signal success and failure of an action are usually clear, although the effort necessary to attain success is often less transparent. Only by repeatedly experiencing success and failure is it possible to acquire an estimate of an optimal level of effort needed to succeed, without unnecessary waste of energy. This type of learning is important in contexts as diverse as foraging, hunting, and harvesting (6-8). Hull in his "law of less work" proposed that organisms "gradually learn" how to minimize effort expenditure (9). Surprisingly, we know little regarding the neurocognitive mechanisms that guide this form of simultaneous learning about reward and effort.A mesolimbic dopamine system encodes a teaching signal tethered to prediction of reward outcomes (10, 11). These reward prediction errors (PEs) arise from dopaminergic neurons in substantia nigra and ventral tegmental area (SN/VTA) and are broadcast to ventral striatum (VS) to mediate reward-related adaptation and learning (12, 13). Dopamine is also thought to provide a motivational signal (14-18), while dopaminergic deficits in rodents impair how effort and reward are arbitrated (1, 4, 19). The dorsomedial prefrontal cortex (dmPFC; spanning presupplementary motor area [pre-SMA] and dorsal anterior cingulate cortex [dACC]) is a candidate substrate...