Major league baseball players must decide whether and how to swing at a pitch based only on the first 10 to 20 percent of the ball's flight when there is still a lot of uncertainty about the pitch's speed and trajectory. How do they do it? New research finds that when confronted with uncertainty, humans generate a single motor plan that optimizes task performance. The research resolves a long-standing question about how the brain selects an action to execute when there is uncertainty about its ultimate goal, providing fundamental insight into motor planning in the nervous system.