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Pezzulo, G., Verschure, P., Balkenius, C., Pennartz, C. (2014) The principles of goal-directed decision-making: from neural mechanisms to computation and robotics. Philosophical Transactions of the Royal Society B: Biological Sciences 369 20130470

Pezzulo, G., van der Meer MA, Lansink, C. S., Pennartz, C. (2014) Internally generated sequences in learning and executing goal-directed behavior. Trends in Cognitive Sciences, in press

Verschure, P.F.M.J., Pennartz, C.M.A, Pezzulo, G. (2014) The why, what, where, when and how of goal-directed choice: neuronal and computational principles. Philosophical Transactions of the Royal Society B: Biological Sciences 369 20130483

Rennó-Costa, C., Lisman, JE, Verschure, PFMJ (2014) A Signature of Attractor Dynamics in the CA3 Region of the Hippocampus. PLoS computational biology 10 (5), e1003641

Cabral H, Vinck MA, Fouquet C, Pennartz CMA, Rondi-Reig L Battaglia FP (2014) Oscillatory dynamics and place field maps reflect sequence and place memory processing in hippocampal ensembles under NMDA receptor control. Neuron.

Lind, A., Hall, L., Breidegard, B., Balkenius, C., & Johansson, P. (2014). Real-time speech-exchange indicates that we use auditory feedback to specify the meaning of what we say. Psychological Science, in press.

Lind, A., Hall, L., Breidegard, B., Balkenius, C., & Johansson, P. (2014). Auditory feedback of one’s own voice is used for high-level, semantic monitoring: the “self-comprehension” hypothesis. Frontiers in Human Neuroscience, in press.

Tosoni, A, Corbetta, M., Calluso, C., Committeri, G., Pezzulo, G., Romani, G.L., Galati, G. (2014) Decision and action planning signals in human posterior parietal cortex during delayed perceptual choices. European Journal of Neuroscience


Chersi, F., Donnarumma, F., and Pezzulo, G. (2013) Mental Imagery in the navigation domain: A computational model of sensory-motor simulation mechanisms. Adaptive Behavior 21(4) 251-262

Chersi, F., Mirolli, M., Pezzulo, G. Baldassarre, G. (2013) A spiking neuron model of the cortico-basal ganglia circuits for goal-directed and habitual action learning. Neural Networks, in press

Marcos, E., Pani, P. Brunamonti, E., Deco, G., Ferraina, S. and Verschure, P. (2013) Neural Variability in Premotor Cortex Is Modulated by Trial History and Predicts Behavioral Performance, Neuron Volume 78, Issue 2, 249-255

Pezzulo, G., Rigoli, F., Chersi F. (2013) The Mixed Instrumental Controller: Using Value of Information to Combine Habitual Choice and Mental Simulation. Frontiers in Psychology

Pezzulo, G., Candidi, M., Dindo, H., and Barca, L. (2013). Action simulation in the human brain: Twelve questions. New Ideas in Psychology.

Pezzulo, G., Donnarumma, F., and Dindo, H.  (2013). Human Sensorimotor Communication: A Theory of Signaling in Online Social Interactions PLoS ONE 8 (11), e79876

Caligiore D., Pezzulo G., Miall C., Baldassarre G. (2013) The contribution of brain sub-cortical loops in the expression and acquisition of action understanding abilities. Neuroscience & Biobehavioral Reviews

Koziol L.F., Budding D., Andreasen N., D’Arrigo S., Bulgheroni S., Imamizu H., Ito M., Manto M., Marvel C., Parker K., Pezzulo G., Ramnani N., Riva D., Schmahmann J., Vandervert L., Yamazaki T. (2013). Consensus paper: the cerebellum's role in movement and cognition. The Cerebellum

Pärnamets, P., Johansson, P., Balkenius, C., Hall, L., Spivey, M. J., Richardson, D. C. (2013). Changing minds by tracking eyes: Dynamical systems, gaze and moral decisions. Proceedings of CogSci 2013.

Pärnamets, P., Johansson, P., Balkenius, C., Hall, L., Spivey, M. J., Richardson, D. C. (2013). Changing minds by tracking eyes: Biasing moral decisions by interrupting gaze. 17th European Conference on Eye Movements, Lund, Sweden.

Pezzulo, G. (2013). Studying mirror mechanisms within generative and predictive architectures for joint action. Cortex.

Pezzulo, G., Iodice, P., Ferraina, S., and Kessler, K. (2013) Shared Action Spaces: a basis function framework for social re-calibration of sensorimotor representations supporting joint action Front. Hum. Neurosci. 7:800.

Goltstein PM, Coffey EBJ, Roelfsema PR and Pennartz CMA (2013) In vivo two-photon Ca2+ imaging reveals selective reward effects on stimulus-specific assemblies in mouse visual cortex. J. Neurosci. 33: 11540-11555.

Saifullah, M., Balkenius, C. and Jönsson, A. (2013). A biologically based model for recognition of 2-D occluded patterns. Cognitive Processing, 15, 1, 13-28.

Strannegård, C., von Haugwitz, R., Wessberg, J. and Balkenius, C. (2013). Intuition and Reasoning A Cognitive Architecture based on Dual Process Theory. In Kai-Uwe Kühnberger, Sebastian Rudolph, Pei Wang (Eds) Artificial General Intelligence. Springer.


E. Marcos, E. Brunamonti, S. Ferraina, P. F. M. J. Verschure (2012).   The variance of neuronal activity in dorsal premotor area is predictive of behavioral performance: The influence of trial history in decision making. 2012 Front. Neurosci. Conference Abstract: Neural Coding, Decision-Making & Integration in Time.

E. Marcos, M. Carland, D. Thura, P. Cisek, P. M. F. J. Verschure (2012).  Decision-making depends on an urgency signal modulated by context. 2012 Society for Neuroscience meeting (SfN 2012), New Orleans, USA.

Pezzulo, G., Barsalou, L., Cangelosi, A., Fischer, M., McRae, K., and Spivey, M. (2012) Computational Grounded Cognition: A New Alliance between Grounded Cognition and Computational Modeling. Frontiers in Psychology

Rigoli F, Pavone EF and Pezzulo G (2012). Aversive Pavlovian responses affect human instrumental motor performance. Front. Neurosci. 6:134. doi: 10.3389/fnins.2012.00134

Chersi, F., Pezzulo, G. (2012). Using hippocampal-striatal loops for spatial navigation and goal-directed decision-making. Cognitive Processing, in press

Donnarumma, F., Prevete, R., & Trautteur, G. (2012) Programming in the Brain: a Neural Network theoretical frameworkConnection Science, Volume 24, Issue 2-3

Donnarumma F., Lippiello V. and Saveriano M. (2012), Fast incremental clustering and representation of a 3D point cloud sequence with planar regions, in: Intelligent Robots and Systems (IROS) 2012 IEEE/RSJ International Conference on, pages 3475 -3480

Lansink, C.S., Jackson, J.C., Lankelma, J.V., Ito, R., Robbins, T.W., Everitt, B.J., and Pennartz, C.M.A. (2012) Reward Cues in Space: Commonalities and Differences in Neural Coding by Hippocampal and Ventral Striatal Ensembles. Journal of Neuroscience, 5;32(36):12444-59

Luvizotto, A., Rennó-Costa, C., Verschure, P. F. M. J., (2012) A wavelet based neural model to optimize and read out a temporal population code. Frontiers in Computational Neuroscience. In Press.

Pezzulo, G. (2012) The “Interaction Engine”: a Common Pragmatic Competence across Linguistic and Non-Linguistic Interactions. IEEE Transactions on Autonomous Mental Development. 4(2):105–123

Pezzulo, G. & Ognibene, D. (2012) Proactive Action Preparation: Seeing Action Preparation as a Continuous and Proactive Process. Motor Control. 16(3):386–424

Strannegård, C.,Häggström, O., Wessberg, J. and Balkenius, C. (2012) Transparent neural networks: integrating concept formation and reasoning, Proceedings of the 5th Conference on Artificial General Intelligence, Oxford.

van Wingerden M, Vinck M, Tijms V, Ferreira IR, Jonker AJ, Pennartz CM. (2012) NMDA Receptors Control Cue-Outcome Selectivity and Plasticity of Orbitofrontal Firing Patterns during Associative Stimulus-Reward Learning. Neuron. 2012 Nov 21;76(4):813-25

Vinck M, Battaglia FP, Balakirsky VB, Vinck AJH and Pennartz CMA (2012) Estimation of the entropy based on its polynomial representation. Physical Review E Vol.85, DOI: 10.1103/PhysRevE.85.051139.


E. Marcos, P. Pani, E. Brunamonti, S. Ferraina, P. F. M. J. Verschure (2011). Behavioral and neural modulation during motor decision making in a countermanding task. 2011 Society for Neuroscience meeting (SfN). Washington, USA, November 12-16, 2011.

Chersi, F., Ferrari, P. F. & Fogassi, L. (2011) Neuronal Chains for Actions in the Parietal Lobe: A Computational ModelPLoS ONE 6(11): e27652.

Dindo, H., Zambuto, D. & Pezzulo, G. (2011) Motor simulation via coupled internal models using sequential Monte Carlo. Proceedings of IJCAI 2011

Gigliotta, O., Pezzulo, G. & Nolfi, S. (2011) Evolution of a Predictive Internal Model in an Embodied and Situated Agent. Theory in Biosciences

Johnsson, M., Balkenius, C. and Hesslow, G. (2011). Multimodal System Based on Self-Organizing Maps. In K Madani et al (Eds) Lecture Notes in Computer Science (pp. 251 - 263), Springer-Verlag.

Johnsson, M., Gil, D., Hesslow, G. and Balkenius C. (2011). Internal Simulation in a Bimodal System. In Kofod-Petersen, A., Heintz, F., and Langseth, H. (Eds) Proceedings of the Scandinavian Conference on Artificial Intelligence (SCAI) 2011, Trondheim, Norway, IOS Press, 173-182.

Luvizotto, A., Rennó-Costa C., Pattacini U., & Verschure P. F. M. J. (2011).  The encoding of complex visual stimuli by a canonical model of the primary visual cortex: temporal population coding for face recognition on the iCub robot. 2011 IEEE International Conference on RObotics and BIOmimetics (IEEE-ROBIO 2011), pp. 313-318.

Pezzulo, G. (2011) Shared representations as coordination tools for interactions Review of Philosophy and Psychology

Pezzulo, G., Baldassarre, G., Cesta, A. & Nolfi, S. (2011) Research on Cognitive Robotics at the Institute of Cognitive Sciences and Technologies, National Research Council of Italy (ISTC-CNR). Cognitive Processing.

Pezzulo, G. & Dindo, H. (2011What should I do next? Using shared representations to solve interaction problemsExperimental Brain Research 211(3), 613-630

Pezzulo, G. & Rigoli, F. (2011) The value of foresight: how prospection affects decision-making Front. Neurosci., 5:79

Pezzulo, G. & Rigoli, F. (2011) Planning in view of future needs: a Bayesian model of anticipated motivationProceedings of EuroCogsci 2011

Rennó-Costa, C., Luvizotto A. L., Marcos E., Duff A., Sánchez-Fibla M., & Verschure P. F. M. J. (2011).  Integrating Neuroscience-based Models Towards an Autonomous Biomimetic Synthetic Forager. 2011 IEEE International Conference on RObotics and BIOmimetics (IEEE-ROBIO 2011), pp. 210-15.

Rigoli, F., Pavone, E. F. & Pezzulo, G. (2011) Interaction of goal-directed and Pavlovian systems in aversive domainsProceedings of CogSci 2011




E. Marcos, I. Cos, P. Cisek, B. Girard, P. F. M. J. Verschure (2013).   Biomechanical costs of reaching movements bias perceptual decisions. 2013 Abstracts from the Twenty Second Annual Computational Neuroscience Meeting (CNS*2013), P408.

Bos JJ, Vinck M, Van Mourik-Donga AB, Pennartz CMA (2013) Within and between-area replay in hippocampus, barrel cortex and perirhinal cortex. Soc. Neurosci. Abstr. Program no. 578.27.

Lansink CS, Jackson JC, Lankelma JV, Vinck M, Pennartz CMA (2013) Increased oscillatory activity in the hippocampal and ventral striatal system across multiple frequency bands during reward site approach. Soc. Neurosci. Abstr. Program no. 864.03.

Van Wingerden M, Van der Meij R, Kalenscher T, Maris E and Pennartz CMA (2013) Phase-amplitude coupling in rat orbitofrontal cortex discriminates between correct and incorrect decisions during associative learning. Soc. Neurosci. Abstr. Program 864.20.

Pezzulo G, Rigoli F, Donnarumma F and Chersi F (2012). Hippocampal forward sweeps and the balance of goal-directed and habitual controllers: a Bayesian approach. Front. Neurosci. Conference Abstract: Neural Coding, Decision-Making & Integration in Time. doi: 10.3389/conf.fnins.2012.86.00014

Bos JJ, Vinck M, Donga AB,  Pennartz CMA (2012) Behavioral correlates of firing activity in a visual discrimination task across the rat CA1 hippocampal area, visual, barrel and perirhinal cortex. Soc. Neurosci. Abstr. Program.

Vinck M, Bos JJ, Pennartz CMA (2012) Spike and LFP coherence between and within barrel, visual and perirhinal cortex and hippocampal area CA1 in the awake, behaving rodent. Soc. Neurosci. Abstr. Program.

Goltstein PM, Meijer GT and Pennartz CMA (2012) Retinotopically selective reward effects in mouse primary visual cortex after head-restrained classical conditioning. Soc. Neurosci. Abstr. Program.


Research funded by the EU's FP7 under grant agreement no FP7-ICT-270108 (Goal-Leaders).