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This book examines sensory cue integration within and across different sensory modalities. It highlights a contemporary perspective on cue combination, emphasizing the role of uncertainty. These probabilistic methods arise from the understanding that sensory inputs are inherently noisy and often ambiguous. For instance, the variability in mechanoreceptor outputs makes it difficult to distinguish between externally applied forces and self-generated ones. The probabilistic approaches detailed in this volume aim to formalize the uncertainty associated with sensory cues.