The diencephalon includes structures like the thalamus, hypothalamus, epithalamus, and subthalamus. The thalamus relays sensory and motor signals to the cerebral cortex. It contains nuclei that relay specific sensations like vision, hearing, and somatosensation. The hypothalamus controls autonomic functions and regulates behaviors related to hunger, thirst, temperature, sleep, and reproduction. It also controls the pituitary gland. The epithalamus includes the pineal gland and habenular nucleus. The subthalamus contains the subthalamic nucleus and is involved in motor control.