Develops neural and computational models of how humans and animals learn to successfully predict environmental events and generate behavioral actions that satisfy internally defined criteria of success or failure. Reinforcement learning and its homeostatic (drive, arousal, rhythm) and nonhomeostatic (reinforcement) modulators are analyzed in depth. Recognition learning and recall learning networks are joined to the reinforcement learning network to analyze how these several processes cooperate to generate successful goal-oriented behavior. Maladaptive behaviors and certain mental disorders are analyzed from a unified theoretical perspective. Applications to the design of freely moving adaptive robots are noted.