In the summer of 2006 I interned with IBM Research at the TJ Watson Research Center in Yorktown Heights, NY. I worked with the Biometaphorical Computing Research group. My project was to take an idea for a novel cerebellum model, implement it in software, and test its capabilities on various motor learning and conditioning tasks. See the Peck, Streeter, Kozloski, 2007 paper in my publications for more details.
The video below is a visual demonstration of a computational model of the cerebellum. The cerebellum model is learning to control an articulated arm with 6 distinct muscles. Note how at the beginning the basal ganglia provide most of the control signal, but over time the cerebellum learns the reaching task, offloading most of the work from the basal ganglia.