Michael Kositsky Andrew G. Barto The Emergence of Multiple Movement Units in the Presence of Noise and Feedback Delay. 43-50 2001 conf/nips/2001 NIPS http://www-2.cs.cmu.edu/Groups/NIPS/NIPS2001/papers/psgz/CS11.ps.gz db/conf/nips/nips2001.html#KositskyB01