Need help understanding the structure of this convoluted neural network
The so-called motor command $v_t$ (I don't know what it means but it looks to be some scalar feature although it would work the same if it's a vector) is fed into a layer that builds 64 representations of this value, one for each feature map in the convolutional layer that we are going to add it too. The conv layers have a spatial resolution however, and this representation is only one number for the corresponding feature map. What they do is tile this number so that this whole motor command representation has the same dimensions as the max pooling layer after the convolutional layer (pool2). Now that the dimensions match we can use an element-wise addition operation to inject this information into the convolutional network.