Multiple Forward Model Architecture for Sequence Processing

Hierarchical mixtures of experts and the EM algorithm

Neural Computation

Multiple paired forward and inverse models for motor control

Neural Networks - Special issue on neural control and robotics: biology and technology

Reinforcement learning with hierarchies of machines

NIPS '97 Proceedings of the 1997 conference on Advances in neural information processing systems 10

Multi-time models for temporally abstract planning

NIPS '97 Proceedings of the 1997 conference on Advances in neural information processing systems 10

Learning to perceive the world as articulated: an approach for hierarchical learning in sensory-motor systems

Neural Networks - Special issue on organisation of computation in brain-like systems

Multiple paired forward-inverse models for human motor learning and control

Proceedings of the 1998 conference on Advances in neural information processing systems II

Multi-agent reinforcement learning: weighting and partitioning

Neural Networks

Adaptive mixtures of local experts

Neural Computation