Precisely-wired neuronal circuits process sensory information in a learning- and context-dependent manner in order to govern behavior. Simple whisker-dependent sensory decision-making tasks in mice reveal contributions of distinct cell types and brain regions participating in the conversion of sensory information into goal-directed licking motor output through reward-based learning. Task learning appears to be accompanied by target-specific routing of sensory information to specific downstream brain regions in a context-dependent manner. An important challenge for the future is to understand in further detail the brain-wide neural circuit mechanisms connecting cell type-specific processing of sensory information with the motor neurons ultimately responsible for goal-directed action initiation and motor control.