A method for processing multi-modal input includes receiving multiple signal inputs, each signal input having a corresponding input mode. Each signal input is processed in a series of mode-specific processing stages. Each successive mode-specific stage is associated with a successively longer scale of analysis of the signal input. A fused output is generated based on the output of a series of fused processing stages. Each successive fused processing stage is associated with a successively longer scale of analysis of the signal input. Multiple fused processing stages receive inputs from corresponding mode-specific processing stages, so that the fused output depends on the multiple of signal inputs.