相关论文: Multimodal VAE Active Inference Controller

Multiple modalities often co-occur when describing natural phenomena. Learning a joint representation of these modalities should yield deeper and more useful representations. Previous generative approaches to multi-modal input either do not…

To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, which prevents robot state from shaping instruction understanding and from influencing which visual tokens are attended throughout the…

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…

We explore how to enhance next-token prediction models to perform in-context imitation learning on a real robot, where the robot executes new tasks by interpreting contextual information provided during the input phase, without updating its…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

This contribution comprises the interplay between a multi-modal variational autoencoder and an environment to a perceived environment, on which an agent can act. Furthermore, we conclude our work with a comparison to curiosity-driven…

Motion planning for articulated robots has traditionally been governed by algorithms that operate within manufacturer-defined payload limits. Our empirical analysis of the Franka Emika Panda robot demonstrates that this approach…

Neurofeedback training (NFT) aims to teach self-regulation of brain activity through real-time feedback, but suffers from highly variable outcomes and poorly understood mechanisms, hampering its validation. To address these issues, we…

We present an active tactile exploration framework for joint object recognition and 6D pose estimation. The proposed method integrates wrist force/torque sensing, GelSight tactile sensing, and free-space constraints within a Bayesian…

Active inference is a unifying theory for perception and action resting upon the idea that the brain maintains an internal model of the world by minimizing free energy. From a behavioral perspective, active inference agents can be seen as…

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…

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…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

A key feature of sequential decision making under uncertainty is a need to balance between exploiting--choosing the best action according to the current knowledge, and exploring--obtaining information about values of other actions. The…

There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…

Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…

Active Inference is a closed-loop computational theoretical basis for understanding behaviour, based on agents with internal probabilistic generative models that encode their beliefs about how hidden states in their environment cause their…

The detection of anomalous executions is valuable for reducing potential hazards in assistive manipulation. Multimodal sensory signals can be helpful for detecting a wide range of anomalies. However, the fusion of high-dimensional and…