Design Improvements in Associative Memories for Cerebellar Model Articulation Controllers (CMAC)

A number of recent improvements to the design of associative memories for CMAC systems are described. These are (i) an improved scheme for allocating C weights to a given input vector in Rn, (ii) design of receptive field shapes within the hypercube associated with an individual weight (including some experimental evaluations of these shapes), (iii) matching the field shapes to the hypercube itself using the concept of superspheres, (iv) speeding up the convergence of the weight training procedure