Fig. 5From: Hierarchical intrinsically motivated agent planning behavior with dreaming in grid environmentsThe scheme of the Pattern Memory update process. SP, Spatial Pooler, encodes raw input data to suitable state representation \(s_t\) (with dimension \(k_{\text{in}}\)). Clusters are the set of c cluster representation SDRs f with their density \(\chi _f\). The main idea is based on comparison of \(s_t\) and f to associate \(s_t\) for suitable clusterBack to article page