The role of efference copy in striatal learning

•Reinforcement learning requires signals representing context, action, and reward.•Actions can be generated by many different midbrain and cortical circuits.•We review recent models that incorporate an efference copy of action commands.•Also discussed are ideas about how these signals might be integrated in striatal circuits.

Reinforcement learning requires the convergence of signals representing context, action, and reward. While models of basal ganglia function have well-founded hypotheses about the neural origin of signals representing context and reward, the function and origin of signals representing action are less clear. Recent findings suggest that exploratory or variable behaviors are initiated by a wide array of 'action-generating' circuits in the midbrain, brainstem, and cortex. Thus, in order to learn, the striatum must incorporate an efference copy of action decisions made in these action-generating circuits. Here we review several recent neural models of reinforcement learning that emphasize the role of efference copy signals. Also described are ideas about how these signals might be integrated with inputs signaling context and reward.