Final answer:
The cerebral cortex, cerebellum, and frontal lobe are critical brain structures for learning sensorimotor skills.
Step-by-step explanation:
The set of brain structures critical for learning sensorimotor skills includes the cerebral cortex, cerebellum, and frontal lobe. The cerebral cortex is necessary for sensory perception, including somatosensory, visual, auditory, and gustatory senses. The cerebellum is involved in motor coordination and learning new motor actions. The frontal lobe controls motor functions and is responsible for executive functions like working memory and attention.