# Need help understanding the structure of this convoluted neural network

I'm trying to grasp the structure of this convoluted neural network.

(Source)

I understand the first layer is a 6x6 conv with stride 2 followed by 3x3 max pool and then 6 5x5 convs and another 3x3 max pool. After this, however, outputs from a fully connected layer of 64 neurons are "tiled over the special dimensions of the response map of pool2".

I don't understand what this means. The output of pool2 should be 64 (because of 64 filters) 18x18 arrays. In the first 18x18 array do I add output1 to each of the 18*18=324 values, and in the second array add output2 to each of the 324 values, etc.?

### TLDR

What do I do with the 64 outputs (each is a 18x18 array) and the 64 outputs from the fully connected layer?

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.