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Dopaminergic activation signal encodes the motivation. The thalamic activity represents the utility of actions. Arrows and lines with circles denote excitatory and inhibitory connections, respectively. DA = dopamine, D1 = dopamine receptor 1 medium spiny neurons, D2 = dopamine receptor 2 medium spiny neurons, SNr = substantia nigra pars reticulata, STN = subthalamic nucleus, GPe = globus pallidus external segment.
