Related papers: Hierarchical Active Inference using Successor Repr…

One of the key challenges in applying reinforcement learning to real-life problems is that the amount of train-and-error required to learn a good policy increases drastically as the task becomes complex. One potential solution to this…

Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior…

Despite being recognized as neurobiologically plausible, active inference faces difficulties when employed to simulate intelligent behaviour in complex environments due to its computational cost and the difficulty of specifying an…

Active inference is a first principle account of how autonomous agents operate in dynamic, non-stationary environments. This problem is also considered in reinforcement learning (RL), but limited work exists on comparing the two approaches…

State abstraction is an effective technique for planning in robotics environments with continuous states and actions, long task horizons, and sparse feedback. In object-oriented environments, predicates are a particularly useful form of…

Accurate interception of moving objects, such as catching a ball, requires the nervous system to overcome sensory delays, noise, and environmental dynamics. One key challenge is predicting future object motion in the presence of sensory…

The ability to plan at many different levels of abstraction enables agents to envision the long-term repercussions of their decisions and thus enables sample-efficient learning. This becomes particularly beneficial in complex environments…

Studies suggest that within the hierarchical architecture, the topological higher level possibly represents a conscious category of the current sensory events with slower changing activities. They attempt to predict the activities on the…

This paper addresses the problem of learning abstractions that boost robot planning performance while providing strong guarantees of reliability. Although state-of-the-art hierarchical robot planning algorithms allow robots to efficiently…

The inverse statistical problem of finding direct interactions in complex networks is difficult. In the natural sciences, well-controlled perturbation experiments are widely used to probe the structure of complex networks. However, our…

We study how to effectively leverage expert feedback to learn sequential decision-making policies. We focus on problems with sparse rewards and long time horizons, which typically pose significant challenges in reinforcement learning. We…

The Free Energy Principle (FEP) is a theoretical framework for describing how (intelligent) systems self-organise into coherent, stable structures by minimising a free energy functional. Active Inference (AIF) is a corollary of the FEP that…

We present a representation learning algorithm that learns a low-dimensional latent dynamical system from high-dimensional \textit{sequential} raw data, e.g., video. The framework builds upon recent advances in amortized inference methods…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

The free energy principle (FEP) is a mathematical framework that describes how biological systems self-organize and survive in their environment. This principle provides insights on multiple scales, from high-level behavioral and cognitive…

Building machines capable of efficiently collaborating with humans has been a longstanding goal in artificial intelligence. Especially in the presence of uncertainties, optimal cooperation often requires that humans and artificial agents…

We seek to align agent policy with human expert behavior in a reinforcement learning (RL) setting, without any prior knowledge about dynamics, reward function, and unsafe states. There is a human expert knowing the rewards and unsafe states…

Memory is inherently entangled with prediction and planning. Flexible behavior in biological and artificial agents depends on the interplay of learning from the past and predicting the future in ever-changing environments. This chapter…

We propose a novel hierarchical reinforcement learning framework for control with continuous state and action spaces. In our framework, the user specifies subgoal regions which are subsets of states; then, we (i) learn options that serve as…

As we deploy reinforcement learning agents to solve increasingly challenging problems, methods that allow us to inject prior knowledge about the structure of the world and effective solution strategies becomes increasingly important. In…