It is generally accepted that both Neanderthals and Homo sapiens evolved from earlier "archaic" Homo sapiens, but the classification of Neanderthals depends on when in the timeline these modern humans are considered a separate species from the "archaic" forms.
So, it may in theory be the case that they were similar enough from a genomic standpoint that we haven't been able to distinguish the admixture. But more likely not! I'm quite skeptical of the idea myself. If so, where did all the distinctive Neanderthal features go? Stated differently, how could all the progeny bear such a remarkably indistinguishable resemblance to other Homo sapiens?
And the differences between Homo erectus and Homo sapiens makes the differences with Neanderthal seem downright trivial. Brain capacity alone: Homo erectus had 75% that of Homo sapiens. So, if they mated, where did all the retard hybrids go?? :)
Now, I saw a program about the 'Hobbits' on Flores and they were speculating that they are Homo-Erectus however, they found 80k year old shell necklaces at the site. Homo-Erectus wasn't suppose to have the brain capacity for making necklaces.
Also, I've read that the brain size of Cro-Magnon Man was larger than modern humans. And, someone mentioned on another thread that Homo-Erectus and Neanderthal had larger brains too but, I suspect this is incorrect.