Massively Parallel Reasoning about Actions. - Sven-Erik Bornscheuer; Torsten Seiler (KI, 1996)

Perception and action selection by anticipation of sensorimotor consequences. - Torsten Seiler; Volker Stephan; Horst-Michael Gross (ESANN, 1998)

Generative character of perception: a neural architecture for sensorimotor anticipation. - Horst-Michael Gross; Andrea Heinze; Torsten Seiler; Volker Stephan (Neural Networks, 1999)