相关论文: Active Inference for Integrated State-Estimation, …

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

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…

Active inference is a normative principle underwriting perception, action, planning, decision-making and learning in biological or artificial agents. From its inception, its associated process theory has grown to incorporate complex…

Active inference is a probabilistic framework for modelling the behaviour of biological and artificial agents, which derives from the principle of minimising free energy. In recent years, this framework has successfully been applied to a…

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…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…

Active inference is a mathematical framework for understanding how agents (biological or artificial) interact with their environments, enabling continual adaptation and decision-making. It combines Bayesian inference and free energy…

Active inference, a neurally-inspired model for inferring actions based on the free energy principle (FEP), has been proposed as a unifying framework for understanding perception, action, and learning in the brain. Active inference has…

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…

Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…

The way the brain selects and controls actions is still widely debated. Mainstream approaches based on Optimal Control focus on stimulus-response mappings that optimize cost functions. Ideomotor theory and cybernetics propose a different…

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.…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

By dynamic planning, we refer to the ability of the human brain to infer and impose motor trajectories related to cognitive decisions. A recent paradigm, active inference, brings fundamental insights into the adaptation of biological…

Given the rapid advancement of artificial intelligence, understanding the foundations of intelligent behaviour is increasingly important. Active inference, regarded as a general theory of behaviour, offers a principled approach to probing…

This study investigated how social interaction among robotic agents changes dynamically depending on the individual belief of action intention. In a set of simulation studies, we examine dyadic imitative interactions of robots using a…

In this paper we present a computational modeling account of an active self in artificial agents. In particular we focus on how an agent can be equipped with a sense of control and how it arises in autonomous situated action and, in turn,…

Long horizon sequential manipulation tasks are effectively addressed hierarchically: at a high level of abstraction the planner searches over abstract action sequences, and when a plan is found, lower level motion plans are generated. Such…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…