Fredrik Bissmarck Hiroyuki Nakahara Kenji Doya Okihide Hikosaka Responding to Modalities with Different Latencies. 2004 conf/nips/2004 NIPS http://books.nips.cc/papers/files/nips17/NIPS2004_0595.pdf db/conf/nips/nips2004.html#BissmarckNDH04