5.4.1. Introduction5.4.2. Cognitive Control for Robots5.4.3. The Working Memory System5.4.4. The Role of CEA and FRA for Task Switching5.4.5. Self-Motivated, Internal State-Based Action Selection Mechanism5.4.6. Future Plans5.4.7. ConclusionsAppendix 1. Spatial Attention and Action SelectionAppendix 2. Verbs and Adverbs for Behavior ExecutionAppendix 3. Memory Contents during Work Memory TrainingAppendix 4. Perception Encoding Used in FRA Experiment