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In complex environments, the space of possible plans is vast. Generating a good plan therefore requires judicious selection of which parts of the plan space to mentally explore. Drawing on past studies of human exploration, we propose that mental exploration might invoke similar mechanisms. In particular, we test the hypothesis that mental exploration during planning is uncertainty-driven, such that people will exhibit a tendency to explore parts of the plan space that have high epistemic uncertainty. We developed a route-planning task, displayed as a binary tree, where participants were instructed to collect as many treats (rewards) as possible by traversing the tree. By separating the planning and execution phases, we encouraged participants to externalize their planning process. We manipulated uncertainty by varying the number of potential future states available from each current state. Across two studies, the data suggest that people preferred to explore options with more successor states after controlling for value differences, supporting the uncertainty-driven planning hypothesis. We also found that uncertainty played a larger role during the planning phase than during the execution phase, consistent with the hypothesis that the uncertainty effect primarily reflects a property of human planning algorithms rather than an intrinsic preference for uncertainty.
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