Predictive coding networks for temporal prediction
Fig 7
A: A free-body diagram of a simple pendulum that has a mass m attached to a string with length L. Also shown are the forces applied to the mass. The restoring force −mg sin θ is a net force toward the equilibrium position. B: A phase portrait of the pendulum simulation showing the result of our linear versus nonlinear models prediction for the ground-truth data. The vector field (i.e. set of small arrows) was created by computing the derivatives of and
at t = 0 on a grid of 30 points over the range of −π to + π and -4 to +4 for θ1 and θ2, respectively. C: The barplot shows the difference between the mean prediction errors of the linear model versus the nonlinear model from 100 simulations with varying noise profiles. The mean errors are significantly different (p << 0.001).