†‡ = Equal contributions


Heald JB, Wolpert DM &  Lengyel M‡ (in press)
The computational and neural bases of context-dependent learning
Annual Review of Neuroscience 

Heald JB, Lengyel M & Wolpert DM‡ (in press)
Contextual inference in learning and memory
Trends in Cognitive Sciences      

Zhang Z, Cesanek E, Ingram JN, Flanagan JR & Wolpert DM‡ (in press)
Object weight can be rapidly predicted, with low cognitive load, by exploiting learned associations between the weights and locations of objects
Journal of Neurophysiology       

Ikegami T,  Flanagan JR &  Wolpert DM (2022)
Reach adaption to a visuomotor gain with terminal error feedback involves reinforcement learning
PloS one 17 (6), e0269297



Heald JB, Lengyel M & Wolpert DM (2021)
Contextual inference underlies the learning of sensorimotor repertoires
Nature  600, 489–493
[News and Views]

Cesanek E, Zhang Z, Ingram JN, Wolpert DM & Flanagan JR‡ (2021)
Motor memories of object dynamics are categorically organized
Elife 10:e71627

Kang YHR*,  Löffler A*,  Jeurissen D*,  Zylberberg A‡, Wolpert DM‡ & Shadlen MN‡ (2021)
Multiple decisions about one object involve parallel sensory acquisition but time-multiplexed evidence incorporation
Elife 10, e63721


Bian T, Wolpert DM & Jiang Z-P 
Model-free robust optimal feedback mechanisms of biological motor control
Neural Computation 32, 562-95

Moskowitz JB, Gale DJ, Gallivan JP, Wolpert DM‡ & Flanagan JR‡ (2020).
Human decision making anticipates future performance in motor learning.
PLoS Comput Biol, 16(2), e1007632.

Wolpe N, Ingram JN, Tsvetanov KA, Henson RN, Wolpert DM, Cam-CAN  & Rowe JB (2020).
Age-related reduction in motor adaptation: brain structural correlates and the role of explicit memory.
Neurobiol Aging, 90, 13-23.

McGarity-Shipley MR, Heald JB, Ingram JN, Gallivan JP, Wolpert DM & Flanagan JR (2020)
Motor memories in manipulation tasks are linked to contact goals between objects
Journal of Neurophysiology 124 (3), 994-1004


Lengyel G, Žalalytė G, Pantelides A,  Ingram JN, Fiser J, Lengyel M & Wolpert DM (2019)
Unimodal statistical learning produces multimodal object-like representations 
eLife 8:e43942.

Carroll TJ, McNamee D, Ingram JN & Wolpert DM (2019)
Rapid visuomotor responses reflect value-based decisions
J Neurosci 39(20):3906 –3920 

McNamee D & Wolpert DM (2019)
Internal models in biological control
Annual Review of Control, Robotics and Autonomous Systems 2:339–64

Proud K,  Heald JB,  Ingram JN, Gallivan JP,  Wolpert DM & Flanagan JR (2019)

Separate motor memories are formed when implicitly controlling different locations on a tool 

J Neurophysiol  121: 1342–1351

Sadeghi M, Sheahan HR, Ingram JN & Wolpert DM (2019)
The visual geometry of a tool  modulates generalization during adaptation

Sci Rep  9:2731


Zylberberg A, Wolpert DM & Shadlen MN (2018)
Counterfactual reasoning underlies the learning of priors in decision making 
Neuron 99, 1–15

Sadeghi M, Ingram JN & Wolpert DM (2018)
Adaptive coupling influences generalization of sensorimotor learning
PLoS One 13(11): e0207482

Wolpe N, Zhang J, Nombela C, Ingram JN, Wolpert DM, Cam-CAN & Rowe JB (2018)
Sensory attenuation in Parkinson’s disease is related to disease severity and dopamine dose
Sci Rep  8:15643 

Gallivan JP, Chapman CS, Wolpert DM & Flanagan JR (2018)
Decision-making in sensorimotor control
Nature Reviews Neuroscience 

Sheahan HR, Ingram JN,  Žalalytė GM & Wolpert DM (2018)
Imagery of movements immediately following performance allows learning of motor skills that interfere
Sci Rep  (2018) 8:14330 

Heald JB, Ingram JN, Flanagan JR & Wolpert DM (2018)
Multiple motor memories are learned to control different points on a tool
Nature Human Behaviour 2(4): 300-311

Therrien AS, Wolpert DM & Bastian AJ  (2018)
Increasing motor noise impairs reinforcement learning in healthy individuals
eNeuro , 5(3) e0050-18.2018 1–14 

Heald JB, Franklin DW & Wolpert DM (2018)
Increasing muscle co-contraction speeds up internal model acquisition during dynamic motor learning
Sci Rep  8:16355


Nashed JY, Diamond JS, Gallivan JP, Wolpert DM & Flanagan JR (2017)
Grip force when reaching with target uncertainty provides evidence for motor optimization over averaging.
Sci Rep 7(1): 11703

Franklin S, Wolpert DM & Franklin DW (2017)
Rapid visuomotor feedback gains are tuned to the task dynamics.
J Neurophysiol 118(5): 2711-2726

Diamond JS, Wolpert DM & Flanagan JR (2017)
Rapid target foraging with reach or gaze: the hand looks further ahead than the eye.
PLoS Comput Biol 13(7): e1005504

Gallivan JP, Stewart BM, Baugh LA, Wolpert DM & Flanagan JR (2017)
Rapid automatic motor encoding of competing reach options.
Cell Rep 18(7): 1619-1626  (with corrected Fig 3C)

Kang YHR, Petzschner FH, Wolpert DM & Shadlen MN (2017)
Piercing of consciousness as a threshold-crossing operation.
Curr Biol 27(15): 2285-2295.e6 

Ingram JN, Sadeghi M, Flanagan JR & Wolpert DM (2017)
An error-tuned model for sensorimotor learning.
PLoS Comput Biol 13(12): e1005883

Acerbi L, Vijayakumar S & Wolpert DM (2017)
Target uncertainty mediates sensorimotor error correction.
PLoS One 12(1): e0170466


Wolpe N, Ingram JN, Tsvetanov KA, Geerligs L, Kievit RA, Henson RN, Wolpert DM, Cam-CAN CAN & Rowe JB (2016)
Ageing increases reliance on sensorimotor prediction through structural and functional differences in frontostriatal circuits.
Nat Commun 7: 13034

Sheahan HR, Franklin DW & Wolpert DM (2016)
Motor planning, not execution, separates motor memories.
Neuron 92(4): 773-779
Commentary in Neuron

Shadlen MN, Kiani R, Newsome WT, Gold JI, Wolpert DM, Zylberberg A, Ditterich J, de Lafuente V, Yang T & Roitman J (2016)
Comment on "single-trial spike trains in parietal cortex reveal discrete steps during decision-making".
Science 351(6280): 1406

Gallivan JP, Bowman NA, Chapman CS, Wolpert DM & Flanagan JR (2016)
The sequential encoding of competing action goals involves dynamic restructuring of motor plans in working memory.
J Neurophysiol 115(6): 3113-22

Franklin DW, Batchelor AV & Wolpert DM (2016)
The sensorimotor system can sculpt behaviorally relevant representations for motor learning.
eNeuro 3(4):

Therrien AS, Wolpert DM & Bastian AJ (2016)
Effective reinforcement learning following cerebellar damage requires a balance between exploration and motor noise.
Brain 139(Pt 1): 101-14
Commentary by Miall & Galea

van den Berg R, Anandalingam K, Zylberberg A, Kiani R, Shadlen MN & Wolpert DM (2016)
A common mechanism underlies changes of mind about decisions and confidence.
Elife 5: e12192

Gallivan JP, Logan L, Wolpert DM & Flanagan JR (2016)
Parallel specification of competing sensorimotor control policies for alternative action options.
Nat Neurosci 19(2): 320-6

van den Berg R, Zylberberg A, Kiani R, Shadlen MN & Wolpert DM (2016)
Confidence is the bridge between multi-stage decisions.
Curr Biol 26(23): 3157-3168

Yeo SH, Franklin DW & Wolpert DM (2016)
When optimal feedback control is not enough: feedforward strategies are required for optimal control with active sensing.
PLoS Comput Biol 12: e1005190

McNamee D, Wolpert DM & Lengyel M (2016)
Efficient state-space modularization for planning: theory, behavioral and neural signatures
Advances in Neural Information Processing Systems 29

Wolpert DM & Flanagan JR (2016)
Computations underlying sensorimotor learning.
Curr Opin Neurobiol 37: 07-Nov

Yang SCH, Lengyel M & Wolpert DM (2016)
Active sensing in the categorization of visual patterns
Elife 5: e12215

Yang SCH, Wolpert DM & Lengyel M (2016)
Theoretical perspectives on active sensing
Current Opinion in Behavioral Sciences 11: 100-108


Diamond JS, Nashed JY, Johansson RS, Wolpert DM & Flanagan JR (2015)
Rapid visuomotor corrective responses during transport of hand-held objects incorporate novel object dynamics.
J Neurosci 35(29): 10572-80

Carroll TJ, de Rugy A, Howard IS, Ingram JN & Wolpert DM (2015)
Enhanced crosslimb transfer of force-field learning for dynamics that are identical in extrinsic and joint-based coordinates for both limbs.
J Neurophysiol 115(1): 445-456

Howard IS, Wolpert DM & Franklin DW (2015)
The value of the follow-through derives from motor learning depending on future actions. (with corrected figures)
Curr Biol 25(3): 397-401
Commentary by Miall RC, R106-8

Gallivan JP, Barton KS, Chapman CS, Wolpert DM & Randall Flanagan FJ (2015)
Action plan co-optimization reveals the parallel encoding of competing reach movements.
Nat Commun 6: 7428

Yeo SH, Wolpert DM & Franklin DW (2015)
Coordinate representations for interference reduction in motor learning.
PLoS One 10(6): e0129388


Trewartha KM, Garcia A, Wolpert DM & Flanagan JR (2014)
Fast but fleeting: adaptive motor learning processes associated with aging and cognitive decline.
J Neurosci 34(40): 13411-21

Wolpert DM (2014)
Computations in sensorimotor learning
Cold Spring Harb Symp Quant Biol : 24919

Franklin DW, Franklin S & Wolpert DM (2014)
Fractionation of the visuomotor feedback response to directions of movement and perturbation.
J Neurophysiol 112(9): 2218-33

Zhou K, Wolpert DM & De Zeeuw ZCI (2014)
Motor systems: reaching out and grasping the molecular tools.
Curr Biol 24(7): R269-71

Berniker M, Franklin DW, Flanagan JR, Wolpert DM & Kording K (2014)
Motor learning of novel dynamics is not represented in a single global coordinate system: evaluation of mixed coordinate representations and local learning.
J Neurophysiol 111(6): 1165-82

Acerbi L, Vijayakumar S & Wolpert DM (2014)
On the origins of suboptimality in human probabilistic inference.
PLoS Comput Biol 10(6): e1003661

Shergill SS, White TP, Joyce DW, Bays PM, Wolpert DM & Frith CD (2014)
Functional magnetic resonance imaging of impaired sensory prediction in schizophrenia.
JAMA Psychiatry 71(1): 28-35

Burk D, Ingram JN, Franklin DW, Shadlen MN & Wolpert DM (2014)
Motor effort alters changes of mind in sensorimotor decision making.
PLoS ONE 9(3): e92681

Wolpe N, Wolpert DM & Rowe JB (2014)
Seeing what you want to see: priors for one's own actions represent exaggerated expectations of success.
Front Behav Neurosci 8: 232


Howard IS, Wolpert DM & Franklin DW (2013)
The effect of contextual cues on the encoding of motor memories.
J Neurophysiol 109(10): 2632-44

Dimitriou M, Wolpert DM & Franklin DW (2013)
The temporal evolution of feedback gains rapidly update to task demands.
J Neurosci 33(26): 10898-909

Ingram JN, Flanagan JR & Wolpert DM (2013)
Context-dependent decay of motor memories during skill acquisition.
Curr Biol 23(12): 1107-12

Shergill SS, White TP, Joyce DW, Bays PM, Wolpert DM & Frith CD (2013)
Modulation of somatosensory processing by action.
NeuroImage 70: 356-62

Franklin DW, Selen LP, Franklin S & Wolpert DM (2013)
Selection and control of limb posture for stability.
Conf Proc IEEE Eng Med Biol Soc 2013: 5626-9

Houlsby N, Huszar F, Ghassemi MM, Orbán G, Wolpert DM & Lengyel M (2013)
Cognitive tomography reveals complex, task-independent mental representations
Current Biology 23(21): 2169-2175


Howard IS, Ingram JN, Franklin DW & Wolpert DM (2012)
Gone in 0.6 seconds: the encoding of motor memories depends on recent sensorimotor states.
J Neurosci 32(37): 12756-68

Franklin S, Wolpert DM & Franklin DW (2012)
Visuomotor feedback gains upregulate during the learning of novel dynamics.
J Neurophysiol 108(2): 467-78

Selen LP, Shadlen MN & Wolpert DM (2012)
Deliberation in the motor system: reflex gains track evolving evidence leading to a decision.
J Neurosci 32(7): 2276-86

Dimitriou M, Franklin DW & Wolpert DM (2012)
Task-dependent coordination of rapid bimanual motor responses.
J Neurophysiol 107(3): 890-901

Turnham EJ, Braun DA & Wolpert DM (2012)
Facilitation of learning induced by both random and gradual visuomotor task variation.
J Neurophysiol 107(4): 1111-22

Wolpert DM & Landy MS (2012)
Motor control is decision-making.
Curr Opin Neurobiol 22(6): 996-1003

Acerbi L, Wolpert DM & Vijayakumar S (2012)
Internal representations of temporal statistics and feedback calibrate motor-sensory interval timing.
PLoS Comput Biol 8(11): e1002771


Ingram JN, Howard IS, Flanagan JR & Wolpert DM (2011)
A single-rate context-dependent learning process underlies rapid adaptation to familiar object dynamics.
PLoS Comput Biol 7(9): e1002196

Franklin DW & Wolpert DM (2011)
Computational mechanisms of sensorimotor control.
Neuron 72(3): 425-42

Franklin DW & Wolpert DM (2011)
Feedback modulation: a window into cortical function.
Curr Biol 21(22): R924-6

Turnham EJ, Braun DA & Wolpert DM (2011)
Inferring visuomotor priors for sensorimotor learning.
PLoS Comput Biol 7(3): e1001112

Braun DA, Ortega PA & Wolpert DM (2011)
Motor coordination: when two have to act as one.
Exp Brain Res 211(3-4): 631-41

Nagengast AJ, Braun DA & Wolpert DM (2011)
Risk sensitivity in a motor task with speed-accuracy trade-off.
J Neurophysiol 105(6): 2668-74

Wolpert DM, Diedrichsen J & Flanagan JR (2011)
Principles of sensorimotor learning.
Nat Rev Neurosci 12(12): 739-51

Orbán G & Wolpert DM (2011)
Representations of uncertainty in sensorimotor control.
Curr Opin Neurobiol 21(4): 629-35

Howard IS, Ingram JN & Wolpert DM (2011)
Separate representations of dynamics in rhythmic and discrete movements: evidence from motor learning.
J Neurophysiol 105(4): 1722-31

Braun DA, Nagengast AJ & Wolpert DM (2011)
Risk-sensitivity in sensorimotor control.
Front Hum Neurosci 5: 1

Ingram JN & Wolpert DM (2011)
Naturalistic approaches to sensorimotor control.
Prog Brain Res 191: Mar-29


Howard IS, Ingram JN & Wolpert DM (2010)
Context-dependent partitioning of motor learning in bimanual movements.
J Neurophysiol 104(4): 2082-91

Wolpert DM & Flanagan JR (2010)
Motor learning.
Curr Biol 20(11): R467-72

Nagengast AJ, Braun DA & Wolpert DM (2010)
Risk-sensitivity and the mean-variance trade-off: decision making in sensorimotor control.
Proc Biol Sci 278(1716): 2325-32

Braun DA, Mehring C & Wolpert DM (2010)
Structure learning in action.
Behav Brain Res 206(2): 157-65

Teufel C, Kingdon A, Ingram JN, Wolpert DM & Fletcher PC (2010)
Deficits in sensory prediction are related to delusional ideation in healthy individuals.
Neuropsychologia 48(14): 4169-72

Ingram JN, Howard IS, Flanagan JR & Wolpert DM (2010)
Multiple grasp-specific representations of tool dynamics mediate skillful manipulation.
Curr Biol 20(7): 618-23

Braun DA, Waldert S, Aertsen A, Wolpert DM & Mehring C (2010)
Structure learning in a sensorimotor association task.
PLoS ONE 5(1): e8973

Nagengast AJ, Braun DA & Wolpert DM (2010)
Risk-sensitive optimal feedback control accounts for sensorimotor behavior under uncertainty.
PLoS Comput Biol 6(7): e1000857

Wolpert DM & Flanagan JR (2010)
Q&A: robotics as a tool to understand the brain.
BMC Biol 8: 92


Resulaj A, Kiani R, Wolpert DM & Shadlen MN (2009)
Changes of mind in decision-making.
Nature 461(7261): 263-6
Commentary in Neuron

Howard IS, Ingram JN, Kording KP & Wolpert DM (2009)
Statistics of natural movements are reflected in motor errors.
J Neurophysiol 102(3): 1902-10

Selen LP, Franklin DW & Wolpert DM (2009)
Impedance control reduces instability that arises from motor noise.
J Neurosci 29(40): 12606-16

Ahmed AA & Wolpert DM (2009)
Transfer of dynamic learning across postures.
J Neurophysiol 102(5): 2816-24

Wolpert DM & Flanagan JR (2009) 

Forward models 

The Oxford Companion to Consciousness 
Eds. Bayne T, Cleermans A & Wilken P, OUP: pp 294-296

Braun DA, Aertsen A, Wolpert DM & Mehring C (2009)
Learning optimal adaptation strategies in unpredictable motor tasks.
J Neurosci 29(20): 6472-8

Nagengast AJ, Braun DA & Wolpert DM (2009)
Optimal control predicts human performance on objects with internal degrees of freedom.
PLoS Comput Biol 5(6): e1000419

Howard IS, Ingram JN & Wolpert DM (2009)
A modular planar robotic manipulandum with end-point torque control.
J Neurosci Methods 181(2): 199-211

Braun DA, Aertsen A, Wolpert DM & Mehring C (2009)
Motor task variation induces structural learning.
Curr Biol 19(4): 352-7

Braun DA, Ortega PA & Wolpert DM (2009)
Nash equilibria in multi-agent motor interactions.
PLoS Comput Biol 5(8): e1000468

Faisal AA & Wolpert DM (2009)
Near optimal combination of sensory and motor uncertainty in time during a naturalistic perception-action task.
J Neurophysiol 101(4): 1901-12


Howard IS, Ingram JN & Wolpert DM (2008)
Composition and decomposition in bimanual dynamic learning.
J Neurosci 28(42): 10531-40

Ahmed AA, Wolpert DM & Flanagan JR (2008)
Flexible representations of dynamics are used in object manipulation.
Curr Biol 18(10): 763-8
Commentary in Current Biology

Ingram JN, Kording KP, Howard IS & Wolpert DM (2008)
The statistics of natural hand movements.
Exp Brain Res 188(2): 223-36

Franklin DW & Wolpert DM (2008)
Specificity of reflex adaptation for task-relevant variability.
J Neurosci 28(52): 14165-75

Faisal AA, Selen LP & Wolpert DM (2008)
Noise in the nervous system.
Nat Rev Neurosci 9(4): 292-303

Bays PM & Wolpert DM (2008)
Predictive attenuation in the perception of touch
Sensorimotor Foundations of Higher Cognition 22: 339-358

Voss M, Ingram JN, Wolpert DM & Haggard P (2008)
Mere expectation to move causes attenuation of sensory signals.
PLoS ONE 3(8): e2866


Voss M, Bays PM, Rothwell JC & Wolpert DM (2007)
An improvement in perception of self-generated tactile stimuli following theta-burst stimulation of primary motor cortex.
Neuropsychologia 45(12): 2712-7

Tcheang L, Bays PM, Ingram JN & Wolpert DM (2007)
Simultaneous bimanual dynamics are learned without interference.
Exp Brain Res 183(1): 17-25

Braun DA & Wolpert DM (2007)
Optimal control: when redundancy matters.
Curr Biol 17(22): R973-5

Bays PM & Wolpert DM (2007)
Computational principles of sensorimotor control that minimize uncertainty and variability.
J Physiol 578(Pt 2): 387-96

Hamilton AF, Joyce DW, Flanagan JR, Frith CD & Wolpert DM (2007)
Kinematic cues in perceptual weight judgement and their origins in box lifting.
Psychol Res 71(1): 13-21

Witney AG & Wolpert DM (2007)
The effect of externally generated loading on predictive grip force modulation.
Neurosci Lett 414(1): 10-May

Wolpert DM (2007)
Probabilistic models in human sensorimotor control.
Hum Mov Sci 26(4): 511-24


Bays PM & Wolpert DM (2006)
Actions and consequences in bimanual interaction are represented in different coordinate systems.
J Neurosci 26(26): 7121-6

Harris CM & Wolpert DM (2006)
The main sequence of saccades optimizes speed-accuracy trade-off.
Biol Cybern 95(1): 21-Sep

Kording KP & Wolpert DM (2006)
Bayesian decision theory in sensorimotor control.
Trends Cogn Sci 10(7): 319-26

Hamilton AF, Wolpert DM, Frith U & Grafton ST (2006)
Where does your own action influence your perception of another person's action in the brain?
NeuroImage 29(2): 524-35

Bays PM, Flanagan JR & Wolpert DM (2006)
Attenuation of self-generated tactile sensations is predictive, not postdictive.
PLoS Biol 4(2): e28

Kording KP & Wolpert DM (2006)
Probabilistic mechanisms in sensorimotor control.
Novartis Found Symp 270: 191-8; discussion 198-202, 232-7


Davidson PR & Wolpert DM (2005)
Widespread access to predictive models in the motor system: a short review.
J Neural Eng 2(3): S313-9

Kitazawa S & Wolpert DM (2005)
Rhythmicity, randomness and synchrony in climbing fiber signals.
Trends Neurosci 28(11): 611-9

Voss M, Ingram JN, Haggard P & Wolpert DM (2005)
Sensorimotor attenuation by central motor command signals in the absence of movement.
Nat Neurosci 9(1): 26-Jul

Nowak DA, Voss M, Huang YZ, Wolpert DM & Rothwell JC (2005)
High-frequency repetitive transcranial magnetic stimulation over the hand area of the primary motor cortex disturbs predictive grip force scaling.
Eur J Neurosci 22(9): 2392-6

Bays PM, Wolpert DM & Flanagan JR (2005)
Perception of the consequences of self-action is temporally tuned and event driven.
Curr Biol 15(12): 1125-8

Davidson PR, Wolpert DM, Scott SH & Flanagan JR (2005)
Common encoding of novel dynamic loads applied to the hand and arm.
J Neurosci 25(22): 5425-9

Haggard P & Wolpert DM (2005) 

Disorders of body scheme
Higher-Order Motor Disorders, 
Ed. Freund, Jeannerod, Hallett & Leiguarda, OUP

Bays PM, Flanagan JR & Wolpert DM (2005)
Interference between velocity-dependent and position-dependent force-fields indicates that tasks depending on different kinematic parameters compete for motor working memory.
Exp Brain Res 163(3): 400-5

Cattaneo L, Voss M, Brochier T, Prabhu G, Wolpert DM & Lemon RN (2005)
A cortico-cortical mechanism mediating object-driven grasp in humans.
Proc Natl Acad Sci U S A 102(3): 898-903

Schultz J, Friston KJ, O'Doherty DJ, Wolpert DM & Frith CD (2005)
Activation in posterior superior temporal sulcus parallels parameter inducing the percept of animacy.
Neuron 45(4): 625-35

Oztop E, Wolpert D & Kawato M (2005)
Mental state inference using visual control parameters.
Brain Res Cogn Brain Res 22(2): 129-51

Haruno M & Wolpert DM (2005)
Optimal control of redundant muscles in step-tracking wrist movements.
J Neurophysiol 94(6): 4244-55

Shergill SS, Samson G, Bays PM, Frith CD & Wolpert DM (2005)
Evidence for sensory prediction deficits in schizophrenia.
Am J Psychiatry 162(12): 2384-6


Caithness G, Osu R, Bays P, Chase H, Klassen J, Kawato M, Wolpert DM & Flanagan JR (2004)
Failure to consolidate the consolidation theory of learning for sensorimotor adaptation tasks.
J Neurosci 24(40): 8662-71

Kording KP, Fukunaga I, Howard IS, Ingram JN & Wolpert DM (2004)
A neuroeconomics approach to inferring utility functions in sensorimotor control.
PLoS Biol 2(10): e330

Davidson PR & Wolpert DM (2004)
Scaling down motor memories: de-adaptation after motor learning.
Neurosci Lett 370(2-3): 102-7

Kording KP, Ku SP & Wolpert DM (2004)
Bayesian integration in force estimation.
J Neurophysiol 92(5): 3161-5

Hamilton A, Wolpert D & Frith U (2004)
Your own action influences how you perceive another person's action.
Curr Biol 14(6): 493-8

Kording KP & Wolpert DM (2004)
The loss function of sensorimotor learning.
Proc Natl Acad Sci U S A 101(26): 9839-42

Haggard PW & Wolpert DM (2004)
Disorders of body scheme
Higher-Order Motor Disorders, : 7

Kording KP & Wolpert DM (2004)
Bayesian integration in sensorimotor learning.
Nature 427(6971): 244-7

Baraduc P, Lang N, Rothwell JC & Wolpert DM (2004)
Consolidation of dynamic motor learning is not disrupted by rtms of primary motor cortex.
Curr Biol 14(3): 252-6

Wolpert DM & Ghahramani Z (2004) 
Computational motor control
The Cognitive Neurosciences III, 485-494, Ed Gazzaniga MS, MIT Press

van Beers RJ, Haggard P & Wolpert DM (2004)
The role of execution noise in movement variability.
J Neurophysiol 91(2): 1050-63

Hamilton AF, Jones KE & Wolpert DM (2004)
The scaling of motor noise with muscle strength and motor unit number in humans.
Exp Brain Res 157(4): 417-30

Davidson PR & Wolpert DM (2004)
Internal models underlying grasp can be additively combined.
Exp Brain Res 155(3): 334-40

Frith CD & Wolpert DM (Eds) (2004)

The neuroscience of social interaction: Decoding, influencing and imitating the actions of others 

Oxford University Press
Book Review in Nature Neuroscience
Book review


Wolpert DM, Doya K & Kawato M (2003)
A unifying computational framework for motor control and social interaction.
Philos Trans R Soc Lond B Biol Sci 358(1431): 593-602

Shergill SS, Bays PM, Frith CD & Wolpert DM (2003)
Two eyes for an eye: the neuroscience of force escalation.
Science 301(5630): 187

Flanagan JR, Vetter P, Johansson RS & Wolpert DM (2003)
Prediction precedes control in motor learning.
Curr Biol 13(2): 146-50
Commentary in Nature Reviews Neuroscience

Davidson PR & Wolpert DM (2003)
Motor learning and prediction in a variable environment.
Curr Opin Neurobiol 13(2): 232-7

Witney AG & Wolpert DM (2003)
Spatial representation of predictive motor learning.
J Neurophysiol 89(4): 1837-43

Kording KP & Wolpert DM (2003)
Probabilistic inference in human sensorimotor processing
Advances in Neural Information Processing :


Jones KE, Hamilton AF & Wolpert DM (2002)
Sources of signal-dependent noise during isometric force production.
J Neurophysiol 88(3): 1533-44

van Beers RJ, Wolpert DM & Haggard P (2002)
When feeling is more important than seeing in sensorimotor adaptation.
Curr Biol 12(10): 834-7

Hamilton AF & Wolpert DM (2002)
Controlling the statistics of action: obstacle avoidance.
J Neurophysiol 87(5): 2434-40

Vetter P, Flash T & Wolpert DM (2002)
Planning movements in a simple redundant task.
Curr Biol 12(6): 488-91

Jackson A, Spinks RL, Freeman TC, Wolpert DM & Lemon RN (2002)
Rhythm generation in monkey motor cortex explored using pyramidal tract stimulation.
J Physiol 541(Pt 3): 685-99

Blakemore SJ, Wolpert DM & Frith CD (2002)
Abnormalities in the awareness of action.
Trends Cogn Sci 6(6): 237-242

Tong C, Wolpert DM & Flanagan JR (2002)
Kinematics and dynamics are not represented independently in motor working memory: evidence from an interference study.
J Neurosci 22(3): 1108-13

van Beers RJ, Baraduc P & Wolpert DM (2002)
Role of uncertainty in sensorimotor control.
Philos Trans R Soc Lond B Biol Sci 357(1424): 1137-45

Baraduc P, Hamilton AF & Wolpert D (2002)
Neurophysiology: cerebral carbon copies.
Curr Biol 12(16): R552-6

Baraduc P & Wolpert DM (2002)
Adaptation to a visuomotor shift depends on the starting posture.
J Neurophysiol 88(2): 973-81


Wolpert DM & Flanagan JR (2001)
Motor prediction.
Curr Biol 11(18): R729-32

Haruno M, Wolpert DM & Kawato M (2001)
Mosaic model for sensorimotor learning and control.
Neural Comput 13(10): 2201-20

Wolpert DM, Ghahramani Z & Flanagan JR (2001)
Perspectives and problems in motor learning.
Trends Cogn Sci 5(11): 487-494

van Beers RJ, Wolpert DM & Haggard P (2001)
Sensorimotor integration compensates for visual localization errors during smooth pursuit eye movements.
J Neurophysiol 85(5): 1914-22

Witney AG, Vetter P & Wolpert DM (2001)
The influence of previous experience on predictive motor control.
Neuroreport 12(4): 649-53

Flanagan JR, King S, Wolpert DM & Johansson RS (2001)
Sensorimotor prediction and memory in object manipulation.
Can J Exp Psychol 55(2): 87-95

Blakemore SJ, Frith CD & Wolpert DM (2001)
The cerebellum is involved in predicting the sensory consequences of action.
Neuroreport 12(9): 1879-84


Vetter P & Wolpert DM (2000)
The CNS updates its context estimate in the absence of feedback.
Neuroreport 11(17): 3783-6

Wolpert DM & Ghahramani Z (2000)
Computational principles of movement neuroscience.
Nat Neurosci 3 Suppl: 1212-7

Frith CD, Blakemore S & Wolpert DM (2000)
Explaining the symptoms of schizophrenia: abnormalities in the awareness of action.
Brain Res Brain Res Rev 31(2-3): 357-63

Frith CD, Blakemore SJ & Wolpert DM (2000)
Abnormalities in the awareness and control of action.
Philos Trans R Soc Lond B Biol Sci 355(1404): 1771-88

Blakemore SJ, Wolpert D & Frith C (2000)
Why can't you tickle yourself?
Neuroreport 11(11): R11-6

Vetter P & Wolpert DM (2000)
Context estimation for sensorimotor control.
J Neurophysiol 84(2): 1026-34

Witney AG, Goodbody S & Wolpert DM (2000)
Learning and decay of prediction in object manipulation
Journal of Neurophysiology 84(1): 334-343


Blakemore SJ, Wolpert DM & Frith CD (1999)
The cerebellum contributes to somatosensory cortical activity during self-produced tactile stimulation.
NeuroImage 10(4): 448-59

Witney AG, Goodbody SJ & Wolpert DM (1999)
Predictive motor learning of temporal delays.
J Neurophysiol 82(5): 2039-48

Goodbody SJ & Wolpert DM (1999)
The effect of visuomotor displacements on arm movement paths.
Exp Brain Res 127(2): 213-23

Vetter P, Goodbody SJ & Wolpert DM (1999)
Evidence for an eye-centered spherical representation of the visuomotor map.
J Neurophysiol 81(2): 935-9

Baker SN, Philbin N, Spinks R, Pinches EM, Wolpert DM, MacManus MDG, Pauluis Q & Lemon RN (1999)
Multiple single unit recording in the cortex of monkeys using independently moveable microelectrodes.
J Neurosci Methods 94(1): May-17

Blakemore SJ, Frith CD & Wolpert DM (1999)
Spatio-temporal prediction modulates the perception of self-produced stimuli
Journal of Cognitive Neuroscience 11(5): 551-559

Haruno M, Wolpert DM & Kawato M (1999)
Multiple paired forward-inverse models for human motor learning and control


Wolpert DM, Miall RC & Kawato M (1998)
Internal models in the cerebellum.
Trends Cogn Sci 2(9): 338-47

Wolpert DM, Goodbody SJ & Husain M (1998)
Maintaining internal representations: the role of the human superior parietal lobe.
Nat Neurosci 1(6): 529-33

Wolpert DM & Kawato M (1998)
Multiple paired forward and inverse models for motor control.
Neural Netw 11(7-8): 1317-29

Blakemore SJ, Wolpert DM & Frith CD (1998)
Central cancellation of self-produced tickle sensation.
Nat Neurosci 1(7): 635-40

Harris CM & Wolpert DM (1998)
Signal-dependent noise determines motor planning.
Nature 394(6695): 780-4

Sabes PN, Jordan MI & Wolpert DM (1998)
The role of inertial sensitivity in motor planning.
J Neurosci 18(15): 5948-57

Goodbody SJ & Wolpert DM (1998)
Temporal and amplitude generalization in motor learning.
J Neurophysiol 79(4): 1825-38

Blakemore SJ, Goodbody S & Wolpert DM (1998)
Predicting the consequences of our own actions: the role of sensorimotor context estimation
J Neurosci 18(18): 7511-7518


Wolpert DM (1997)
Computational approaches to motor control.
Trends Cogn Sci 1(6): 209-16

Ghahramani Z & Wolpert DM (1997)
Modular decomposition in visuomotor learning.
Nature 386(6623): 392-5


Ghahramani Z, Wolpert DM & Jordan MI (1996)
Generalization to local remappings of the visuomotor coordinate transformation.
J Neurosci 16(21): 7085-96

Miall RC &Wolpert DM (1996)
Forward models for physiological motor control.
Neural Netw 9(8): 1265-1279


Wolpert DM, Ghahramani Z & Jordan MI (1995)
An internal model for sensorimotor integration.
Science 269(5232): 1880-2

Wolpert DM, Ghahramani Z & Jordan MI (1995)
Are arm trajectories planned in kinematic or dynamic coordinates? an adaptation study.
Exp Brain Res 103(3): 460-70


Wolpert DM, Ghahramani Z & Jordan MI (1994)
Perceptual distortion contributes to the curvature of human reaching movements.
Exp Brain Res 98(1): 153-6


Miall RC, Weir DJ, Wolpert DM & Stein JF (1993)
Is the cerebellum a smith predictor?
J Mot Behav 25(3): 203-16

Wolpert DM, Miall RC, Cumming B & Boniface SJ (1993)
Retinal adaptation of visual processing time delays.
Vision Res 33(10): 1421-30

Wolpert DM, Miall RC, Kerr GK & Stein JF (1993)
Ocular limit cycles induced by delayed retinal feedback.
Exp Brain Res 96(1): 173-80


Wolpert DM, Miall RC, Winter JL & Stein JF (1992)
Evidence for an error deadzone in compensatory tracking.
J Mot Behav 24(4): 299-308


Wolpert DM & Miall RC (1990)
Detecting chaos with neural networks
Proceedings of the Royal Society B: Biological Sciences 242(1304): 82-86


Dye C & Wolpert DM (1988)
Earthquakes, influenza and cycles of indian kala-azar.
Trans R Soc Trop Med Hyg 82(6): 843-50