Learning by Glueing

The old CMAC ( Cerebellar Model Articulation Controller ) by Albus and Marr is strikingly similar to a pattern engine. The input is quantized in several ways and presented as memory address. This is called tile coding. I’ve  called it  “nonius principle”.  The output is a sum of stored values that may be used for effector control.

Although μ and Δ are different, there is smoothness ( continuity ) and an update rule for stored memory contents. I do not know whether they have already noticed the fact that the underlying spaces may be changed and rebuilt online. Large fluctuations of stored values indicate the presence of a singularity. The space must be rebuilt along the singular locus.

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