In their daily life, humans and other animals continuously face the need to quickly remember what to do in familiar contexts and how to do it. Generally, the basal ganglia, and more specifically the dorsal striatum (dStr), are believed to be implicated in high-level functions (storage of procedural memories and/or action selection/suppression) and therefore drive the execution of learned actions. However, other studies have shown that the dStr might also be implicated in the moment-to-moment kinematics specification of learned movements, or the vigor of reward-oriented actions, which reflect motivational constraints. Pinpointing the exact function of the dStr is challenging because these aspects of behavior (procedural memory, kinematics and motivation) covary in most tasks. For instance, as mice learn a new rule, their movements will be refined and their eagerness to maximize reward capture increases. Here, we developed a naturalistic foraging task in which mice learn flexible procedural rules (turning around objects with varying direction and persistence) which allows a partial disentangling of procedural learning, kinematics control, and motivation. To understand how dStr circuits contribute to this foraging behavior, we performed unilateral perturbation of striato-pallidal and striato-nigral projection neurons. Preliminary results suggest that chemogenetic perturbation of both pathways leads to a decrease in the animal’s speed but doesn't prevent mice from learning new procedural rules and adjusting their exploration/exploitation strategy to maximize reward capture. Therefore, these findings could indicate a low-level motivational function of the dStr that constrains the kinematics of learned movements.