50 Years Since the Marr, Ito, and Albus Models of the Cerebellum

•Comparisons of the models of Marr, Ito and Albus for motor learning and control.•A review of synaptic plasticity in achieving supervised learning.•Condon theory may be relevant to newer functions of the cerebellum.•Computational roles of cerebellar internal models.•Hierarchical reinforcement learning with multiple internal models as a new computational theory of the cerebellum.