相关论文: Deep active inference agents using Monte-Carlo met…

The aim of this work is to address the question of whether we can in principle design rational decision-making agents or artificial intelligences embedded in computable physics such that their decisions are optimal in reasonable…

In most classical Autonomous Vehicle (AV) stacks, the prediction and planning layers are separated, limiting the planner to react to predictions that are not informed by the planned trajectory of the AV. This work presents a module that…

In recent years deep neural networks have been successfully applied to the domains of reinforcement learning \cite{bengio2009learning,krizhevsky2012imagenet,hinton2006reducing}. Deep reinforcement learning \cite{mnih2015human} is reported…

Active inference has emerged as an alternative approach to control problems given its intuitive (probabilistic) formalism. However, despite its theoretical utility, computational implementations have largely been restricted to…

Most reinforcement learning practitioners evaluate their policies with online Monte Carlo estimators for either hyperparameter tuning or testing different algorithmic design choices, where the policy is repeatedly executed in the…

Active inference is a state-of-the-art framework for modelling the brain that explains a wide range of mechanisms such as habit formation, dopaminergic discharge and curiosity. Recently, two versions of branching time active inference…

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,…

In the last decade, the free energy principle (FEP) and active inference (AIF) have achieved many successes connecting conceptual models of learning and cognition to mathematical models of perception and action. This effort is driven by a…

Efficient exploration is an unsolved problem in Reinforcement Learning which is usually addressed by reactively rewarding the agent for fortuitously encountering novel situations. This paper introduces an efficient active exploration…

Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…

Artificial Neural Networks were recently shown to be an efficient representation of highly-entangled many-body quantum states. In practical applications, neural-network states inherit numerical schemes used in Variational Monte Carlo, most…

Drawing inspiration from animal navigation strategies, we introduce a novel computational model for navigation and mapping, rooted in biologically inspired principles. Animals exhibit remarkable navigation abilities by efficiently using…

We advance a novel computational model of multi-agent, cooperative joint actions that is grounded in the cognitive framework of active inference. The model assumes that to solve a joint task, such as pressing together a red or blue button,…

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…

Understanding the behavior of deep reinforcement learning (DRL) agents -particularly as task and agent sophistication increase- requires more than simple comparison of reward curves, yet standard methods for behavioral analysis remain…

Critical sectors of human society are progressing toward the adoption of powerful artificial intelligence (AI) agents, which are trained individually on behalf of self-interested principals but deployed in a shared environment. Short of…

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…

Bayesian model-based reinforcement learning is a formally elegant approach to learning optimal behaviour under model uncertainty, trading off exploration and exploitation in an ideal way. Unfortunately, finding the resulting Bayes-optimal…

Autonomous robotic navigation in real-world environments requires exploration to acquire environmental information as well as goal-directed navigation in order to reach specified targets. Active inference (AIF) based on the free-energy…

With the recent success of world-model agents, which extend the core idea of model-based reinforcement learning by learning a differentiable model for sample-efficient control across diverse tasks, active inference (AIF) offers a…