It isn't self-tuning, and it doesn't "learn." From the paper: "The three constants c_i need to be set by the implementor" Under "Future Directions": "One obvi

It isn't self-tuning, and it doesn't "learn." From the paper: "The three constants c_i need to be set by the implementor" Under "Future Directions": "One obvious thing to do with this system is to have it learn and tune its parameters with experience." The work presented in the paper does not do this. "This network was designed in an ad-hoc, if traditional, way. First, a human tried to control the bicycle with the simulator. After many attempts, the human finally became a somewhat skilled operator of the bicycle ... the human at this point was able to describe the key parameters which were being attended to, and based on this, the two-neuron network was designed." By "designed," the author means "the three constants were selected." This sounds like the "arbitrarily complex procedure" you are looking for.