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The paper is devoted to the structural relation between beliefs and goals. I discuss its importance in modelling cognitive agents; its origin in cognitive processing; its structure (belief structure relative to a goal); its crucial role in rationality, mediating between epistemic and pragmatic rationality; its role in goal Dynamics. I stress the crucial contribution of the supporting beliefs to the Processing of goals; to the Revision of goals (or Dynamics in a narrow sense), i.e. the...