The basal ganglia are a collection of brain areas that are connected by a variety of synaptic pathways and are a site of significant reward-related dopamine release. These properties suggest a possible role for the basal ganglia in action selection, guided by reinforcement learning. In this talk, I will discuss a framework for how this function might be performed and computational results using an upward mapping to identify putative low-dimensional control ensembles that may be involved in tuning decision policy. I will also present some recent experimental results and theory – related to effects of extracellular ion dynamics -- that run counter to the classical view of basal ganglia pathways and suggest a new interpretation of certain aspects of this framework. For those not so interested in the basal ganglia, I hope that the upward mapping approach and impact of extracellular ion dynamics will nonetheless be of interest!