Locally weighted regression (LWR) is a memory-based method that performs a regression around a point of interest using only training data that are ``local to that point. One recent study demonstrated that LWR was suitable for real-time control by constructing an LWR-based system that learned a difficult juggling task.-Locally weighted regression (LWR) is a memory-based method that performs a regression around a point of interest using only training data that are ``local　 to that point. One recent study demonstrated that LWR was suitable for real-time control by constructing an LWR-based system that learned a difficult juggling task.