usepackage[utf8]{inputenc}
usepackage{algorithm}
usepackage{algpseudocode}
algnewcommandalgorithmicgenerate{textbf{GENERATE}}
algnewcommandGENERATE[1]{Statealgorithmicgenerate #1}
algnewcommandalgorithmicset{textbf{SET}}
algnewcommandSET[1]{Statealgorithmicset #1}
algloop{FOR}

begin{document}

begin{algorithm}[H]

begin{algorithmic}[1]
 GENERATE{$S_t^{(i)} qquad ,i=1,...,I,t=1,...,M$}
 SET{$C_t^0(S_t^{(i)})=0 qquad
 ,i=1,...,I,t=1,...,M$}
 SET{$C_{M+1}^n(S_{M+1}^{(i)})=0 qquad ,i=1,...,I,n=0,1,...,N$}
 SET{$hat{Phi}_t^{(n)}(S_t^{(i)})=0 qquad, i=1,...,I,t=1,...,M,n=0,1,...,N$}
 FOR{$quad t=M,...,1$}
  SET{$iota_t^{(i)} = argmax_{a_t^{(i)}in A}{P(S_t^{(i)};a_t^{(i)})} qquad ,i=1,...,I$}
  FOR{$, n=max(1,N-t),...,N$}

end{algorithmic}
end{algorithm}
end{document}