Encoding Longer-Term Contextual Information with Predictive Coding and Ego-Motion

Algorithm 1

MT-AFA-PredNet Computation.

Data:

while or do

 for to do

  for to do

   if then

     =

     ;

   else

    ;

   end

   ;

  end

  /Generative (top-down) Process          /

  for to do

   ;

    ;

    /Discriminative (bottom-up) Process     /

  end

 end

end