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I. Herreros and Verschure, P. F. &, “About the goal of a goals’ goal theory.”, Cognitive neuroscience, vol. 6, no. 4, pp. 218-219, 2015.

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J. Y. Puigbo, Moulin-Frier, C., Vouloutsi, V., Sanchez-Fibla, M., Herreros, I., and Verschure, P. F. &, “Skill refinement through cerebellar learning and human haptic feedback: An iCub learning to paint experiment. ”, In Humanoid Robots (Humanoids), vol. IEEE-RAS 15th International Conference on. . IEEE, pp. 447-452, 2015.