D. Wolpert, K. Doya, and M. Kawato, A unifying computational framework for motor control and social interaction, Philosophical Transactions of the Royal Society, vol.358, pp.593-602, 2003.

K. Doya, Metalearning and neuromodulation, Neural Networks, vol.15, p.495506, 2002.

T. Buschman and E. Miller, Goal-direction and top-down control, Phil. Trans. R. Soc. B, vol.369, p.20130471, 2014.

A. , The basal ganglia and chunking of action repertoires, Neurobiol Learn Mem, vol.70, p.119136, 1998.

J. Tanji, K. Shima, and H. Mushiake, Concept-based behavioral planning and the lateral prefrontal cortex, Trends in Cognitive Sciences, vol.11, issue.12, pp.528-534, 2007.

A. Graybiel and S. Grafton, The Striatum: Where Skills and Habits Meet, vol.7, p.21691, 2015.

A. Barto, Models of information processing in the basal ganglia, pp.215-232, 1995.

W. Schultz, P. Dayan, and P. Montague, A neural substrate of prediction and reward, Annu. Rev. Neurosci, vol.275, pp.1593-1599, 1997.

J. Tenenbaum, C. Kemp, T. Griffiths, and N. Goodman, How to grow a mind statistics, structure, and abstraction, Science, vol.331, issue.6022, pp.1279-1285, 2011.

K. Friston, J. Kilner, and L. Harrison, A free energy principle for the brain, Journal of Physiology-Paris, vol.100, issue.1-3, p.7087, 2006.

T. E. and M. Jordan, Optimal feedback control as a theory of motor coordination, Nat Neurosci, vol.5, p.12261235, 2002.

H. Harlow, The formation of learning sets, Psychological Review, vol.56, issue.1, pp.51-65, 1949.

A. Diamond, Development of the ability to use recall to guide action, as indicated by infants' performance on a-not-b, Child Development, vol.74, pp.24-40, 1985.

Y. Munakata, Computational cognitive neuroscience of early memory development, Developmental Review, vol.24, pp.133-153, 2004.

J. Saffran, R. Aslin, and E. Newport, Statistical learning by 8-monthold infants, Science, vol.274, p.19261928, 1996.

T. Nazzi, J. Bertoncini, and J. Mehler, Language discrimination by newborns: toward an understanding of the role of rhythm, J. Exp. Psychol. Hum. Percept. Perform, vol.24, p.756766, 1998.

G. Marcus, S. Vijayan, S. Bandi, P. Rao, and . Vishton, Rule learning by seven-month-old infants, Science, vol.283, p.7780, 1999.

P. Barone and J. J. , Prefrontal cortex and spatial sequencing in macaque monkey, Exp Brain Res, vol.78, pp.447-464, 2018.

M. Botvinick, Y. Niv, and A. Barto, Hierarchically organized behavior and its neural foundations: a reinforcement learning perspective, Cognition, vol.113, issue.3, p.262280, 2009.

L. Romanski, B. Averbeck, and D. M. , Neural representation of vocalizations in the primate ventrolateral prefrontal cortex, J Neurophysiol, vol.93, p.734747, 2005.

C. Wacongne, E. Labyt, V. Van-wassenhove, T. Bekinschtein, L. Naccache et al., Evidence for a hierarchy of predictions and prediction errors in human cortex, Proc. Natl. Acad. Sci. USA, vol.108, p.2075420759, 2011.

S. Dehaene, F. Meyniel, C. Wacongne, L. Wang, and C. Pallier, The neural representation of sequences from transition probabilities to algebraic patterns and linguistic trees, Neuron, vol.88, pp.2-19, 2015.
URL : https://hal.archives-ouvertes.fr/hal-02324953

K. Friston and S. Kiebel, Predictive coding under the free-energy principle, Philosophical Transactions of the Royal Society of London. Series B, Biological Sciences, vol.364, pp.1211-1232, 2009.

G. Bi and M. Poo, Activity-induced synaptic modifications in hippocampal culture, dependence of spike timing, synaptic strength and cell type, J. Neurscience, vol.18, pp.10-464, 1998.

A. Pitti and Y. Kuniyoshi, Modeling the cholinergic innervation in the infant cortico-hippocampal system and its contribution to early memory development and attention, Proc. of the International Joint Conference on Neural Networks (IJCNN11), pp.1-8, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00750482

A. Pitti, P. Gaussier, and M. Quoy, Iterative free-energy optimization for recurrent neural networks (inferno), PLoS ONE, vol.12, issue.3, p.173684, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01488584

A. Pitti, R. Braud, S. Mah, M. Quoy, and P. Gaussier, Neural model for learning-to-learn of novel task sets in the motor domain, Frontiers in Psychology, vol.4, issue.771, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00870280

A. Pitti, M. Quoy, C. Lavandier, and S. Boucenna, Feature and structural learning of memory sequences with recurrent and gated spiking neural networks using free-energy: application to speech perception and production i, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02140046

A. Pitti, M. Quoy, C. Lavandier, and S. Boucenna, Gated spiking neural network using iterative free-energy optimization and rank-order coding for structure learning in memory sequences (inferno gate), Neural Networks, vol.121, pp.242-258, 2020.
URL : https://hal.archives-ouvertes.fr/hal-02309379

K. Friston, J. Daunizeau, and S. Kiebel, Reinforcement learning or active inference?, PLoS ONE, vol.4, issue.7, p.6421, 2009.

K. Friston, The free-energy principle a rough guide to the brain?, Trends in Cognitive Science, vol.4, issue.7, pp.293-301, 2009.

I. Tsuda, Chaotic itinerancy and its roles in cognitive neurodynamics, Current Opinion in Neurobiology, vol.31, p.6771, 2015.

K. Doya, Metalearning, neuromodulation, and emotion, Affective Minds, pp.101-104, 2000.

A. Pitti, A. Blanchard, M. Cardinaux, and P. Gaussier, Gain-field modulation mechanism in multimodal networks for spatial perception, 12th IEEE-RAS International Conference on Humanoid Robots, pp.297-302, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00762739

O. Dermy, S. Boucenna, A. Pitti, and A. Blanchard, Developmental learning of audio-visual integration from facial gestures of a social robot, 2016.
URL : https://hal.archives-ouvertes.fr/hal-02185423

P. Valentin, S. Boucenna, P. Gaussier, and A. Pitti, Robot recognizing vowels in a multimodal way, IEEE ICDL-EPIROB, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02295330