Human behavior emerges from planning over elaborate decompositions of tasks into goals, subgoals, and low-level actions. How are these decompositions created and used? Here, we propose and evaluate a normative framework for task decomposition based on the simple idea that people decompose tasks to reduce the overall cost of planning while maintaining task performance. Analyzing 11,117 distinct graph-structured planning tasks, we find that our framework justifies several existing heuristics for task decomposition and makes predictions that can be distinguished from two alternative normative accounts. We report a behavioral study of task decomposition (N = 806) that uses 30 randomly sampled graphs, a larger and more diverse set than that of any previous behavioral study on this topic. We find that human responses are more consistent with our framework for task decomposition than alternative normative accounts and are most consistent with a heuristic-betweenness centrality-that is justified by our approach. Taken together, our results suggest the computational cost of planning is a key principle guiding the intelligent structuring of goal-directed behavior.

Simple choices (e.g., eating an apple vs. an orange) are made by integrating noisy evidence that is sampled over time and influenced by visual attention; as a result, fluctuations in visual attention can affect choices. But what determines what is fixated and when? To address this question, we model the decision process for simple choice as an information sampling problem, and approximate the optimal sampling policy. We find that it is optimal to sample from options whose value estimates are both high and uncertain. Furthermore, the optimal policy provides a reasonable account of fixations and choices in binary and trinary simple choice, as well as the differences between the two cases. Overall, the results show that the fixation process during simple choice is influenced dynamically by the value estimates computed during the decision process, in a manner consistent with optimal information sampling.