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added Mr.Wizard's solution using Simon Woods' `smartThread` to the performance tests
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$HistoryLength = 0;

symbolsS = Array[Subscript[s, #1, #2, #3, #4] &, {20, 16, 16, 190}];
symbolsR = Array[Subscript[r, #1, #2, #3] &, {20, 16, 190}];

(* bst *)
Table[symbolsR[[i, j]] + # & /@ symbolsS[[i, j]], {i, 1, 20}, {j, 1, 16}] ; // Timing
(* {6.021639, Null} *)

(* kguler *)
Transpose[Transpose[symbolsS, {1, 2, 4, 3}] + symbolsR, {1, 2, 4, 3}]; // Timing
(* {1.591210, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ symbolsS + symbolsR]]; // Timing
(* {1.045207, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {symbolsR, symbolsS}, 2]; // Timing
(* {0.967206, Null} *) 

(* mr.wizard / simon woods *)
smartThread[symbolsS + symbolsR, 1]; // Timing
(* {1.528810, Null} *)
SeedRandom[1234];
realsS = RandomReal[1, {20, 160, 160, 190}];
realsR = RandomReal[1, {20, 160, 190}];

(* bst *)
Table[realsR[[i, j]] + # & /@ realsS[[i, j]], {i, 1, 20}, {j, 1, 160}] ; // Timing
(* {4.290027, Null} *)

(* kguler *)
Transpose[Transpose[realsS, {1,2,4,3}] + realsR,{1,2,4,3}]; // Timing
(* {2.839218, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ realsS + realsR]]; // Timing
(* {1.731611, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {realsR, realsS}, 2]; // Timing
(* {2.433616, Null} *)

(* wreach, compiled *)
Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
][realsR, realsS]; // Timing
(* {1.903212, Null} *) 

(* mr.wizard / simon woods *)
smartThread[realsS + realsR, 1]; // Timing
(* {2.745618, Null} *)
Test                        V10  V9   V8   V7
symbolic bst                6.02 4.82 5.21 1.01
symbolic kguler             1.59 1.39 1.58 1.23
symbolic mr.W / simon woods 1.53 1.44 2.15 1.64
symbolic kguler, modified   1.05 1.22 1.30 1.03
symbolic wreach             0.97 0.78 0.87 0.95

numeric  bst                4.29 4.70 4.21 2.61
numeric  kguler             2.83 3.26 2.62 2.62
numeric  mr.W / simon woods 2.75 2.59 2.26 2.15
numeric  wreach             2.43 2.63 2.53 2.25
numeric  wreach, compiled   1.90 1.70 1.40 fail
numeric  kguler, modified   1.73 1.79 1.58 1.62
$HistoryLength = 0;

symbolsS = Array[Subscript[s, #1, #2, #3, #4] &, {20, 16, 16, 190}];
symbolsR = Array[Subscript[r, #1, #2, #3] &, {20, 16, 190}];

(* bst *)
Table[symbolsR[[i, j]] + # & /@ symbolsS[[i, j]], {i, 1, 20}, {j, 1, 16}] ; // Timing
(* {6.021639, Null} *)

(* kguler *)
Transpose[Transpose[symbolsS, {1, 2, 4, 3}] + symbolsR, {1, 2, 4, 3}]; // Timing
(* {1.591210, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ symbolsS + symbolsR]]; // Timing
(* {1.045207, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {symbolsR, symbolsS}, 2]; // Timing
(* {0.967206, Null} *)
SeedRandom[1234];
realsS = RandomReal[1, {20, 160, 160, 190}];
realsR = RandomReal[1, {20, 160, 190}];

(* bst *)
Table[realsR[[i, j]] + # & /@ realsS[[i, j]], {i, 1, 20}, {j, 1, 160}] ; // Timing
(* {4.290027, Null} *)

(* kguler *)
Transpose[Transpose[realsS, {1,2,4,3}] + realsR,{1,2,4,3}]; // Timing
(* {2.839218, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ realsS + realsR]]; // Timing
(* {1.731611, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {realsR, realsS}, 2]; // Timing
(* {2.433616, Null} *)

(* wreach, compiled *)
Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
][realsR, realsS]; // Timing
(* {1.903212, Null} *)
Test                        V10  V9   V8   V7
symbolic bst                6.02 4.82 5.21 1.01
symbolic kguler             1.59 1.39 1.58 1.23
symbolic kguler, modified   1.05 1.22 1.30 1.03
symbolic wreach             0.97 0.78 0.87 0.95

numeric  bst                4.29 4.70 4.21 2.61
numeric  kguler             2.83 3.26 2.62 2.62
numeric  wreach             2.43 2.63 2.53 2.25
numeric  wreach, compiled   1.90 1.70 1.40 fail
numeric  kguler, modified   1.73 1.79 1.58 1.62
$HistoryLength = 0;

symbolsS = Array[Subscript[s, #1, #2, #3, #4] &, {20, 16, 16, 190}];
symbolsR = Array[Subscript[r, #1, #2, #3] &, {20, 16, 190}];

(* bst *)
Table[symbolsR[[i, j]] + # & /@ symbolsS[[i, j]], {i, 1, 20}, {j, 1, 16}] ; // Timing
(* {6.021639, Null} *)

(* kguler *)
Transpose[Transpose[symbolsS, {1, 2, 4, 3}] + symbolsR, {1, 2, 4, 3}]; // Timing
(* {1.591210, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ symbolsS + symbolsR]]; // Timing
(* {1.045207, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {symbolsR, symbolsS}, 2]; // Timing
(* {0.967206, Null} *) 

(* mr.wizard / simon woods *)
smartThread[symbolsS + symbolsR, 1]; // Timing
(* {1.528810, Null} *)
SeedRandom[1234];
realsS = RandomReal[1, {20, 160, 160, 190}];
realsR = RandomReal[1, {20, 160, 190}];

(* bst *)
Table[realsR[[i, j]] + # & /@ realsS[[i, j]], {i, 1, 20}, {j, 1, 160}] ; // Timing
(* {4.290027, Null} *)

(* kguler *)
Transpose[Transpose[realsS, {1,2,4,3}] + realsR,{1,2,4,3}]; // Timing
(* {2.839218, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ realsS + realsR]]; // Timing
(* {1.731611, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {realsR, realsS}, 2]; // Timing
(* {2.433616, Null} *)

(* wreach, compiled *)
Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
][realsR, realsS]; // Timing
(* {1.903212, Null} *) 

(* mr.wizard / simon woods *)
smartThread[realsS + realsR, 1]; // Timing
(* {2.745618, Null} *)
Test                        V10  V9   V8   V7
symbolic bst                6.02 4.82 5.21 1.01
symbolic kguler             1.59 1.39 1.58 1.23
symbolic mr.W / simon woods 1.53 1.44 2.15 1.64
symbolic kguler, modified   1.05 1.22 1.30 1.03
symbolic wreach             0.97 0.78 0.87 0.95

numeric  bst                4.29 4.70 4.21 2.61
numeric  kguler             2.83 3.26 2.62 2.62
numeric  mr.W / simon woods 2.75 2.59 2.26 2.15
numeric  wreach             2.43 2.63 2.53 2.25
numeric  wreach, compiled   1.90 1.70 1.40 fail
numeric  kguler, modified   1.73 1.79 1.58 1.62
fixed a code transcription error
Source Link
WReach
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$HistoryLength = 0;

symbolsS = Array[Subscript[s, #1, #2, #3, #4] &, {20, 16, 16, 190}];
symbolsR = Array[Subscript[r, #1, #2, #3] &, {20, 16, 190}];

(* bst *)
Table[symbolsR[[i, j]] + # & /@ symbolsS[[i, j]], {i, 1, 20}, {j, 1, 16}] ; // Timing
(* {6.021639, Null} *)

(* kguler *)
Transpose[Transpose[symbolsS, {1, 2, 4, 3}] + symbolsR, {1, 2, 4, 3}]; // Timing
(* {1.591210, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, tt[t @ symbolsS + symbolsR];symbolsR]]; // Timing
(* {1.045207, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {symbolsR, symbolsS}, 2]; // Timing
(* {0.967206, Null} *)
SeedRandom[1234];
realsS = RandomReal[1, {20, 160, 160, 190}];
realsR = RandomReal[1, {20, 160, 190}];

(* bst *)
Table[realsR[[i, j]] + # & /@ realsS[[i, j]], {i, 1, 20}, {j, 1, 160}] ; // Timing
(* {4.290027, Null} *)

(* kguler *)
Transpose[Transpose[realsS, {1,2,4,3}] + realsR,{1,2,4,3}]; // Timing
(* {2.839218, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, tt[t @ realsS + realsR];realsR]]; // Timing
(* {1.731611, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {realsR, realsS}, 2]; // Timing
(* {2.433616, Null} *)

(* wreach, compiled *)
Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
][realsR, realsS]; // Timing
(* {1.903212, Null} *)
$HistoryLength = 0;

symbolsS = Array[Subscript[s, #1, #2, #3, #4] &, {20, 16, 16, 190}];
symbolsR = Array[Subscript[r, #1, #2, #3] &, {20, 16, 190}];

(* bst *)
Table[symbolsR[[i, j]] + # & /@ symbolsS[[i, j]], {i, 1, 20}, {j, 1, 16}] ; // Timing
(* {6.021639, Null} *)

(* kguler *)
Transpose[Transpose[symbolsS, {1, 2, 4, 3}] + symbolsR, {1, 2, 4, 3}]; // Timing
(* {1.591210, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t @ symbolsS + symbolsR]; // Timing
(* {1.045207, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {symbolsR, symbolsS}, 2]; // Timing
(* {0.967206, Null} *)
SeedRandom[1234];
realsS = RandomReal[1, {20, 160, 160, 190}];
realsR = RandomReal[1, {20, 160, 190}];

(* bst *)
Table[realsR[[i, j]] + # & /@ realsS[[i, j]], {i, 1, 20}, {j, 1, 160}] ; // Timing
(* {4.290027, Null} *)

(* kguler *)
Transpose[Transpose[realsS, {1,2,4,3}] + realsR,{1,2,4,3}]; // Timing
(* {2.839218, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t @ realsS + realsR]; // Timing
(* {1.731611, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {realsR, realsS}, 2]; // Timing
(* {2.433616, Null} *)

(* wreach, compiled *)
Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
][realsR, realsS]; // Timing
(* {1.903212, Null} *)
$HistoryLength = 0;

symbolsS = Array[Subscript[s, #1, #2, #3, #4] &, {20, 16, 16, 190}];
symbolsR = Array[Subscript[r, #1, #2, #3] &, {20, 16, 190}];

(* bst *)
Table[symbolsR[[i, j]] + # & /@ symbolsS[[i, j]], {i, 1, 20}, {j, 1, 16}] ; // Timing
(* {6.021639, Null} *)

(* kguler *)
Transpose[Transpose[symbolsS, {1, 2, 4, 3}] + symbolsR, {1, 2, 4, 3}]; // Timing
(* {1.591210, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ symbolsS + symbolsR]]; // Timing
(* {1.045207, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {symbolsR, symbolsS}, 2]; // Timing
(* {0.967206, Null} *)
SeedRandom[1234];
realsS = RandomReal[1, {20, 160, 160, 190}];
realsR = RandomReal[1, {20, 160, 190}];

(* bst *)
Table[realsR[[i, j]] + # & /@ realsS[[i, j]], {i, 1, 20}, {j, 1, 160}] ; // Timing
(* {4.290027, Null} *)

(* kguler *)
Transpose[Transpose[realsS, {1,2,4,3}] + realsR,{1,2,4,3}]; // Timing
(* {2.839218, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t[t @ realsS + realsR]]; // Timing
(* {1.731611, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {realsR, realsS}, 2]; // Timing
(* {2.433616, Null} *)

(* wreach, compiled *)
Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
][realsR, realsS]; // Timing
(* {1.903212, Null} *)
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WReach
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Here is a way to use MapThread:

MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]

For numeric tensors, it can be compiled to squeeze out a little more performance:

Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
]

Performance Measurements

@kguler's solution has notational appeal. Not only that, but on my machine (V10.0.0, Win7, 64-bit, 4 cpus) @kguler's method runs faster than the Table solution for symbolic tensors. And, with a slight modification, it runs faster than both Table and MapThread for numeric tensors.

Here are the combinations I tried, using larger symbolic tensors and much larger numeric tensors:

Symbolic Tensors

$HistoryLength = 0;

symbolsS = Array[Subscript[s, #1, #2, #3, #4] &, {20, 16, 16, 190}];
symbolsR = Array[Subscript[r, #1, #2, #3] &, {20, 16, 190}];

(* bst *)
Table[symbolsR[[i, j]] + # & /@ symbolsS[[i, j]], {i, 1, 20}, {j, 1, 16}] ; // Timing
(* {6.021639, Null} *)

(* kguler *)
Transpose[Transpose[symbolsS, {1, 2, 4, 3}] + symbolsR, {1, 2, 4, 3}]; // Timing
(* {1.591210, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t @ symbolsS + symbolsR]; // Timing
(* {1.045207, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {symbolsR, symbolsS}, 2]; // Timing
(* {0.967206, Null} *)

Numeric Tensors

SeedRandom[1234];
realsS = RandomReal[1, {20, 160, 160, 190}];
realsR = RandomReal[1, {20, 160, 190}];

(* bst *)
Table[realsR[[i, j]] + # & /@ realsS[[i, j]], {i, 1, 20}, {j, 1, 160}] ; // Timing
(* {4.290027, Null} *)

(* kguler *)
Transpose[Transpose[realsS, {1,2,4,3}] + realsR,{1,2,4,3}]; // Timing
(* {2.839218, Null} *)

(* kguler, modified *)
With[{t = Transpose[#, {1, 2, 4, 3}]&}, t @ realsS + realsR]; // Timing
(* {1.731611, Null} *)

(* wreach *)
MapThread[Function[{r, s}, r + #& /@ s], {realsR, realsS}, 2]; // Timing
(* {2.433616, Null} *)

(* wreach, compiled *)
Compile[{{tensorR, _Real, 3}, {tensorS, _Real, 4}}
, MapThread[Function[{r, s}, r + # & /@ s], {tensorR, tensorS}, 2]
][realsR, realsS]; // Timing
(* {1.903212, Null} *)

I did not notice significant differences in performance when pinning the kernel to a single CPU. Neither was there a noticeable difference when calling ClearSystemCache[] before each run.

Here is a summary table of performance, with V10, V9, V8 and V7 numbers for comparison:

Test                        V10  V9   V8   V7
symbolic bst                6.02 4.82 5.21 1.01
symbolic kguler             1.59 1.39 1.58 1.23
symbolic kguler, modified   1.05 1.22 1.30 1.03
symbolic wreach             0.97 0.78 0.87 0.95

numeric  bst                4.29 4.70 4.21 2.61
numeric  kguler             2.83 3.26 2.62 2.62
numeric  wreach             2.43 2.63 2.53 2.25
numeric  wreach, compiled   1.90 1.70 1.40 fail
numeric  kguler, modified   1.73 1.79 1.58 1.62

NOTE: The compiled MapThread version failed to execute properly due to a compilation error on V7.