The First and Deputy First Ministers' meeting with Gordon Brown has been described as positive, but no date has been set for the devolution of policing and justice.
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Mr Robinson and Mr McGuinness said some progress had been made.
How much money they are given to run the PSNI and the justice system remains the sticking point, with the two ministers said to be seeking funding for a shortfall of some £600m.
"No one should be rushing towards the devolution of policing and justice in circumstances that leave us without the necessary funding," Mr Robinson said.
Election
In the build-up to the discussions Martin McGuinness called for the Prime Minister to devolve policing and justice powers before Christmas.
The Deputy First Minister said that if devolution did not take place by then it would be a "tragedy".
But Peter Robinson said it would be "irresponsible" with an election looming.
He said any agreement would have to have the approval of Conservative leader David Cameron.
The First Minister said: "There is a possibility of an alternative government, and it would be irresponsible of us to simply tie up a deal with the present occupant of Downing Street, to find that in a year's time everything was to change."
The Shadow Northern Ireland Secretary Owen Paterson made clear Conservatives could not give any guarantees about the funding.
He said while they strongly believed in the devolution of policing and justice they had not been involved in the detailed discussions on any financial package.
He said: "When a detailed proposal is published we will comment."
But he warned: "Given the dire economic position it would be irresponsible to make any major financial commitments without knowing the detail."
But Mr McGuinness made it clear he was anxious to forge ahead.
"I don't know what the next government is going to be. Is it going to be a Labour government; is it going to be a Conservative government?
"What we have to do as politicians is conclude a deal now."
SDLP Justice Spokesman Alban Maginness said the lack of political agreement between the First and Deputy First Minister was hindering the transfer of policing and justice powers.
"The central issue about the devolution of policing and justice is not about money, but the lack of political agreement between Peter Robinson and Martin McGuinness."
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