Hippocampal-entorhinal cognitive maps and cortical motor system represent action plans and their outcomes.

Efficiently interacting with the environment requires weighing and selecting among multiple alternative actions based on their associated outcomes. However, the neural mechanisms underlying these processes are still debated. We show that forming relations between arbitrary action-outcome associations involve building a cognitive map. Using an immersive virtual reality paradigm, participants learned 2D abstract motor action-outcome associations and later compared action combinations while their brain activity was monitored with fMRI. We observe a hexadirectional modulation of the activity in entorhinal cortex while participants compared different action plans. Furthermore, hippocampal activity scales with the 2D similarity between outcomes of these action plans. Conversely, the supplementary motor area represents individual actions, showing a stronger response to overlapping action plans. Crucially, the connectivity between hippocampus and supplementary motor area is modulated by the similarity between the action plans, suggesting their complementary roles in action evaluation. These findings provide evidence for the role of cognitive maps in action selection, challenging classical models of memory taxonomy and its neural bases.