Hmmm. I'll need to read more closely later and make a real comment, but since when did Gershman or anyone at DeepMind get on the predictive-coding train? None

Hmmm. I'll need to read more closely later and make a real comment, but since when did Gershman or anyone at DeepMind get on the predictive-coding train? Nonetheless, this kind of algorithm sounds like exactly what I expect from a predictive brain that cares fundamentally about trajectories.