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This lecture explores how the brain learns and executes fast motor sequences by planning upcoming movements while controlling ongoing ones. It delves into the role of planning-related areas in the premotor and parietal cortex, shedding light on the mechanisms behind skilled movement sequences and motor sequence learning. The presentation also covers neuroimaging studies, sequence encoding, sequence representations, and the distinction between sequence general and specific learning. Additionally, it discusses pre-planning and online planning processes, providing insights into the planning horizon expansion and the interaction between planning processes in reaching tasks.