Inferential planning in the frontal cortex.

How the brain plans and maintains sequences of future actions remains a central question in systems neuroscience. Studies in the frontal cortex revealed that multiple elements of a sequence are represented simultaneously in separable neural subspaces, challenging classical sequential planning models. 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 the 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 tasks. Our approach provides a mechanistic account of how probabilistic inference over control states produces distributed neural representations of plans. This framework unifies planning, working memory, and motor preparation, and generates predictions about the dynamics of active inference, the role of subspaces, and the impact of uncertainty on sequence processing.