1. Introduction
2. Anatomical Organization of the Basal Ganglia
3. Synaptic Transmission and Plasticity in the Basal Ganglia
4. Current Ideas on BG Function
5. Behavior and Control
6. The Place of the BG in the Hierarchy
7. Transition Control
8. Higher-Order Transitions and Cognition
9. Motivation
10. Actions and Goals
11. Corticostriatal Contributions to Habits and Behavioral Automaticity
12. Dopamine and Reinforcement Learning
13. Reorganization, Exploration, and Plasticity
14. Interpretation of Clinical Symptoms
15. Synthesis