Hierarchical control of goal-directed action in the cortical–basal ganglia network

•A hierarchical control process mediates the performance of goal-directed actions.•Goal-directed actions can be simple or complex configurations of simpler actions.•The hierarchical controller chooses between the simple and complex actions.•Hierarchical control is implemented in the cortical–basal ganglia network.•Secondary motor area efferents to the striatum regulate actions and habits.