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How does your brain decide what you will do next? Over the past few decadescompelling evidence has emerged that the basal ganglia, a collection of nucleiin the fore- and mid-brain of all vertebrates, are vital to action selection.Gurney, Prescott, and Redgrave published an influential computational accountof this idea in Biological Cybernetics in 2001. Here we take a look back atthis pair of papers, outlining the "GPR" model contained therein, the contextof that model's development, and the influence it has had over the past twentyyears. Tracing its lineage into models and theories still emerging now, we areencouraged that the GPR model is that rare thing, a computational model of abrain circuit whose advances were directly built on by others.

Making decisions in the dark basement of the brain: A look back at the GPR model of action selection and the basal ganglia