What I'm Reading
by JS
A New Approach to Manipulator control: The Cerebellar Model Articulation Controller by J.S Albus (1975)
It is an old but good paper on a novel perceptron architecture that is widely used for reinforcement learning these days. I’ve created a bare-bones implementation in Python for those who are interested. You’ll need numpy and matplotlib.
Here’s a sin curve we all know and love:
And here’s the CMACs training error over time:
And finally a picture of the function that the CMAC outputs after training:
