†‡ = Equal contributions


Motor memories of object dynamics are categorically organized 
(In press)
Cesanek E, Zhang Z, Ingram JN, Wolpert DM & Flanagan JR

Heald JB, Lengyel M & Wolpert DM (In press)
Contextual inference underlies the learning of sensorimotor repertoires

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.
Motor memories in manipulation tasks are linked to contact goals between objects (2020).
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