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

This paper proposes a minimal architecture for body-grounded perspective formation in artificial agents. Extending prior work, the model introduces an interoceptive viability signal, a Fisher-style metric over fused…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…

This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of…

Physical AI agents, such as robots and other embodied systems operating under tight and fluctuating resource constraints, remain far less capable than biological agents in open-ended real-world environments. This paper argues that Active…

Infants often exhibit goal-directed behaviors, such as reaching for a sensory stimulus, even when no external reward criterion is provided. These intrinsically motivated behaviors facilitate spontaneous exploration and learning of the body…

In autonomous robotic decision-making under uncertainty, the tradeoff between exploitation and exploration of available options must be considered. If secondary information associated with options can be utilized, such decision-making…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

Recent advancements in \textit{Learning from Human Feedback} present an effective way to train robot agents via inputs from non-expert humans, without a need for a specially designed reward function. However, this approach needs a human to…

In reinforcement learning (RL), agents often operate in partially observed and uncertain environments. Model-based RL suggests that this is best achieved by learning and exploiting a probabilistic model of the world. 'Active inference' is…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, and focusing) directly from human demonstrations. On the…

To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging…

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…

Active inference is a first principles approach for understanding the brain in particular, and sentient agents in general, with the single imperative of minimizing free energy. As such, it provides a computational account for modelling…

Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…

This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

With recent and rapid advancements in artificial intelligence (AI), understanding the foundation of purposeful behaviour in autonomous agents is crucial for developing safe and efficient systems. While artificial neural networks have…

We present an active learning algorithm for the problem of body schema learning, i.e. estimating a kinematic model of a serial robot. The learning process is done online using Recursive Least Squares (RLS) estimation, which outperforms…