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We found out that, separate plasticity mechanisms in the model cerebellum separately control accuracy and movement-time. These plasticity mechanisms ensure that optimal saccades are produced by just receiving the direction of end reaching error as an evaluative signal. Furthermore, the model emulates encoding in the cerebellum of movement kinematics as observed in biological experiments.Insects such as honeybees are capable of fusing the information sensed by multiple sensory organs for attitude and heading determination. In this paper
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