How the brain decides when to invest effort is a central question in neuroscience. When asked to walk a mile to a destination, would you choose a path with a hill at the beginning or the end? The traditional view of effort suggests we should be indifferent-all joules are equal so long as it does not interfere with accomplishing the goal. Yet, when total joules are equal across movement decisions, the brain's sensitivity to the temporal profile of effort investment remains poorly understood. Here, we sought to parse the interaction of time and physical effort by comparing subjective preferences in an isometric arm-pushing task that varied the duration and timing of high and low effort. Subjects were presented with a series of two-alternative forced choices, where they chose the force profile they would rather complete. Subjects preferred earlier physical effort (i.e., to precrastinate) but were idiosyncratic about preference for task timing. A model of subjective utility that includes physical effort costs, task costs, and independent temporal sensitivity factors described subject preferences best. Interestingly, deliberation time and response vigor covary with the same subjective utility model for preference, suggesting a utility that underlies both decision making and motor control. These results suggest physical effort costs are temporally sensitive, with earlier investment of effort preferred to later investment, and that the representation of effort is based on not only the total energy required but also when it is required to invest that energy.NEW & NOTEWORTHY We use a novel paradigm that differentiates physical effort costs, task costs, and time, where subjects choose between isometric arm-pushing tasks. Subjects prefer high physical effort earlier than later. They also decide faster and respond more vigorously the greater their preference. We find a generalizable subjective utility model that includes independent time-sensitivity of physical effort and task costs. Together, we demonstrate that subjective effort includes not only the total effort invested but also its timing.
