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Jaakkola T, Jordan MI, Singh SP (1995) On the convergence of stochastic iterative dynamic programming algorithms Neural Comput 6:1185-1201

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Wörgötter F, Porr B (2005) Temporal sequence learning, prediction, and control: a review of different models and their relation to biological mechanisms. Neural Comput 17:245-319 [Journal] [PubMed]

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