Exploiting redundancy for flexible behavior: unsupervised learning in a modular sensorimotor control architecture
Psychological Review (2007) - Comment
pubmed: 17907871  doi: 10.1037/0033-295x.114.4.1015  issn: 1939-1471  issn: 0033-295x 

Martin V. Butz, Oliver Herbort, Joachim Hoffmann