相关论文: Active inference body perception and action for hu…

Unlike robots, humans learn, adapt and perceive their bodies by interacting with the world. Discovering how the brain represents the body and generates actions is of major importance for robotics and artificial intelligence. Here we discuss…

Active inference is a mathematical framework which originated in computational neuroscience as a theory of how the brain implements action, perception and learning. Recently, it has been shown to be a promising approach to the problems of…

Active inference is a theory that underpins the way biological agent's perceive and act in the real world. At its core, active inference is based on the principle that the brain is an approximate Bayesian inference engine, building an…

The predictive functions that permit humans to infer their body state by sensorimotor integration are critical to perform safe interaction in complex environments. These functions are adaptive and robust to non-linear actuators and noisy…

This work presents an approach for control, state-estimation and learning model (hyper)parameters for robotic manipulators. It is based on the active inference framework, prominent in computational neuroscience as a theory of the brain,…

Active inference is a formal approach to study cognition based on the notion that adaptive agents can be seen as engaging in a process of approximate Bayesian inference, via the minimisation of variational and expected free energies.…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

We present a pixel-based deep active inference algorithm (PixelAI) inspired by human body perception and action. Our algorithm combines the free-energy principle from neuroscience, rooted in variational inference, with deep convolutional…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

The free energy principle, and its corollary active inference, constitute a bio-inspired theory that assumes biological agents act to remain in a restricted set of preferred states of the world, i.e., they minimize their free energy. Under…

We describe a framework of hybrid cognition by formulating a hybrid cognitive agent that performs hierarchical active inference across a human and a machine part. We suggest that, in addition to enhancing human cognitive functions with an…

We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…

Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on…

To determine an optimal plan for complex tasks, one often deals with dynamic and hierarchical relationships between several entities. Traditionally, such problems are tackled with optimal control, which relies on the optimization of cost…

More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is…

The active inference framework (AIF) is a promising new computational framework grounded in contemporary neuroscience that can produce human-like behavior through reward-based learning. In this study, we test the ability for the AIF to…

How to build AI that understands human intentions, and uses this knowledge to collaborate with people? We describe a computational framework for evaluating models of goal inference in the domain of 3D motor actions, which receives as input…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

Is there a canonical way to think of agency beyond reward maximisation? In this paper, we show that any type of behaviour complying with physically sound assumptions about how macroscopic biological agents interact with the world…