Table 1.

Table of essential parameters marking the difference among the three loops and the learning processes: the complete set of parameters is available for download (see instructions in the Supplementary Material).

Parameters	Attention	Arm action	Goal
λ	2.5	1.5	1
θg layer 1	0.4	0.6	0.1
θg layer 2	0.8	0.8	0.6
Lateral inhibitions	2	0.2	0
Noise in Th	20	30	0
Noise decay	1000	2000	0
Learning processes		(ζ coefficient)
Cortico-cortical		0.2
Predictor		0.00008

The tuning has been carried out by comparison with behavioral results.