A hierarchy of computing modules is configured to (i) learn a cause of input data sensed over space and time, and (ii) determine a cause of novel sensed input data dependent on the learned cause. The hierarchy has a first level of computing modules and a second level of at least one computing module, wherein a computing module in the first level is configured to output to the computing module in the second level a first set of values representing probabilities of possible causes of input data received by the system.