Encoding time is universally required for learning and structuring motor and cognitive actions, but how the brain keeps track of time is still not understood. We searched for time representations in cortico-basal ganglia circuits by recording from thousands of neurons in the prefrontal cortex and striatum of macaque monkeys performing a routine visuomotor task. We found that a subset of neurons exhibited time-stamp encoding strikingly similar to that required by models of reinforcement-based learning: They responded with spike activity peaks that were distributed at different time delays after single task events. Moreover, the temporal evolution of the population activity allowed robust decoding of task time by perceptron models. We suggest that time information can emerge as a byproduct of event coding in cortico-basal ganglia circuits and can serve as a critical infrastructure for behavioral learning and performance.population encoding ͉ TD learning ͉ time-stamped representation T iming of movements on short time-scales, on the order of hundreds of milliseconds, is essential for everyday behavior such as walking up stairs and, famously, for the highly skilled movement control required by behaviors such as playing the piano. Distributed sets of brain regions, especially including cortico-basal ganglia circuits, have been implicated in temporal representation across intervals of time (1-5). How such representations are achieved is not known. Influential models have suggested schemes using time-stamp codes in which individual neurons having single peaked responses distributed across multiple delays to specific events (6) or schemes using neuronal populations codes (3-5, 7-11). These theories naturally link timing to learning, now recognized as a major function of cortico-basal ganglia circuits (12)(13)(14). Keeping track of time is critical for solving the ''credit assignment problem'' in reinforcement-based learning, because the time delay between an event and the reward that it leads to must be encoded (15-17). Time-stamp coding of events has been explicitly incorporated in temporal difference models of reinforcement learning in basal ganglia circuits (15-16). However, evidence of time-stamp coding has not been found in neural recordings (3, 18), and evidence for population coding is also still largely restricted to responses to particular trained intervals (19)(20)(21)(22).We reasoned that if there is a cortico-basal ganglia timing system that builds temporal representations, it should be possible to decode time from the activity of neurons recorded in the neocortex and striatum of animals performing a simple sensorimotor task. Moreover, time-stamp encoding might be more evident with tasks not involving interval training, because interval training could force population activity toward the trained intervals rather than broad coverage of short time (21). We therefore trained macaque monkeys in a visually guided sequential saccade task that had temporal structure but did not explicitly require precise timing of ...