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A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…

Reinforcement Learning (RL) requires a large amount of exploration especially in sparse-reward settings. Imitation Learning (IL) can learn from expert demonstrations without exploration, but it never exceeds the expert's performance and is…

Active inference is a normative framework for explaining behaviour under the free energy principle -- a theory of self-organisation originating in neuroscience. It specifies neuronal dynamics for state-estimation in terms of a descent on…

Increasing energy efficiency in buildings can reduce costs and emissions substantially. Historically, this has been treated as a local, or single-agent, optimization problem. However, many buildings utilize the same types of thermal…

Reinforcement learning (RL) makes it possible to train agents capable of achieving sophisticated goals in complex and uncertain environments. A key difficulty in reinforcement learning is specifying a reward function for the agent to…

Active inference is a theory of perception, learning and decision making, which can be applied to neuroscience, robotics, and machine learning. Recently, reasearch has been taking place to scale up this framework using Monte-Carlo tree…

The goal of inverse reinforcement learning (IRL) is to infer a reward function that explains the behavior of an agent performing a task. The assumption that most approaches make is that the demonstrated behavior is near-optimal. In many…

How can we determine whether an AI system preserves itself as a deeply held objective or merely as an instrumental strategy? Autonomous agents with memory, persistent context, and multi-step planning create a measurement problem: terminal…

Active inference, a corollary of the free energy principle, is a formal way of describing the behavior of certain kinds of random dynamical systems that have the appearance of sentience. In this chapter, we describe how active inference…

We argue that an explainable artificial intelligence must possess a rationale for its decisions, be able to infer the purpose of observed behaviour, and be able to explain its decisions in the context of what its audience understands and…

A fundamental problem in artificial intelligence is that nobody really knows what intelligence is. The problem is especially acute when we need to consider artificial systems which are significantly different to humans. In this paper we…

Reinforcement Learning agents are expected to eventually perform well. Typically, this takes the form of a guarantee about the asymptotic behavior of an algorithm given some assumptions about the environment. We present an algorithm for a…

Humans perceive and interact with hundreds of objects every day. In doing so, they need to employ mental models of these objects and often exploit symmetries in the object's shape and appearance in order to learn generalizable and…

Ensuring artificial intelligence behaves in such a way that is aligned with human values is commonly referred to as the alignment challenge. Prior work has shown that rational agents, behaving in such a way that maximizes a utility…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

While large language models (LLMs) have been thoroughly evaluated for deductive and inductive reasoning, their proficiency in holistic rule learning in interactive environments remains less explored. We introduce RULEARN, a novel benchmark…

We provide a novel characterization of semiparametric efficiency in a generic supervised learning setting where the outcome mean function -- defined as the conditional expectation of the outcome of interest given the other observed…

Biological systems often choose actions without an explicit reward signal, a phenomenon known as intrinsic motivation. The computational principles underlying this behavior remain poorly understood. In this study, we investigate an…

Predicting future observations plays a central role in machine learning, biology, economics, and many other fields. It lies at the heart of organizational principles such as the variational free energy principle and has even been shown --…

The expectation value <O> of an arbitrary operator O can be obtained via a universal measuring apparatus that is independent of O, by changing only the data-processing of the outcomes. Such a ``universal detector'' performs a joint…