Nicoletta Noceti Barbara Caputo Claudio Castellini Luca Baldassarre Annalisa Barla Lorenzo Rosasco Francesca Odone Giulio Sandini Towards a Theoretical Framework for Learning Multi-modal Patterns for Embodied Agents. 239-248 2009 ICIAP http://dx.doi.org/10.1007/978-3-642-04146-4_27 conf/iciap/2009 db/conf/iciap/iciap2009.html#NocetiCCBBROS09