相关论文: Seeing Through Uncertainty: A Free-Energy Approach…

Deep learning has revolutionised artificial intelligence (AI) by enabling automatic feature extraction and function approximation from raw data. However, it faces challenges such as a lack of out-of-distribution generalisation, catastrophic…

The free energy principle (FEP), as an encompassing framework and a unified brain theory, has been widely applied to account for various problems in fields such as cognitive science, neuroscience, social interaction, and hermeneutics. As a…

We propose an embodied system based on the free energy principle (FEP) for sensorimotor visual perception. We evaluated it in a character-recognition task using the MNIST dataset. Although the FEP has successfully described a rule that…

The Free-Energy-Principle (FEP) is an influential and controversial theory which postulates a deep and powerful connection between the stochastic thermodynamics of self-organization and learning through variational inference. Specifically,…

The brain is a biological system comprising nerve cells and orchestrates its embodied agent's perception, behavior, and learning in the dynamic environment. The free energy principle (FEP) advocated by Karl Friston explicates the local,…

The free energy principle (FEP) is a mathematical framework that describes how biological systems self-organize and survive in their environment. This principle provides insights on multiple scales, from high-level behavioral and cognitive…

The free energy principle (FEP) in the neurosciences stipulates that all viable agents induce and minimize informational free energy in the brain to fit their environmental niche. In this study, we continue our effort to make the FEP a more…

The Free Energy Principle (FEP) states that under suitable conditions of weak coupling, random dynamical systems with sufficient degrees of freedom will behave so as to minimize an upper bound, formalized as a variational free energy, on…

In this paper we show how The Free Energy Principle (FEP) can provide an explanation for why real-world networks deviate from scale-free behaviour, and how these characteristic deviations can emerge from constraints on information…

The Free-Energy Principle (FEP) [1-3] has been adopted in a variety of ambitious proposals that aim to characterize all adaptive, sentient, and cognitive systems within a unifying framework. Judging by the amount of attention it has…

With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…

Trajectory prediction methods have demonstrated remarkable capabilities in capturing complex motion patterns. However, existing methods rely on global state assumptions, suffer from insufficient belief inference under partial observability,…

Generalizing local navigation policies across diverse robot morphologies is a critical challenge. Progress is often hindered by the need for costly and embodiment-specific data, the tight coupling of planning and control, and the…

Adaptability is central to autonomy. Intuitively, for high-dimensional learning problems such as navigating based on vision, internal models with higher complexity allow to accurately encode the information available. However, most learning…

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…

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…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

Brain-like intelligent systems need brain-like learning methods. Equilibrium Propagation (EP) is a biologically plausible learning framework with strong potential for brain-inspired computing hardware. However, existing im-plementations of…

In the context of visual navigation in unknown scenes, both "exploration" and "exploitation" are equally crucial. Robots must first establish environmental cognition through exploration and then utilize the cognitive information to…

In natural vision, feedback connections support versatile visual inference capabilities such as making sense of the occluded or noisy bottom-up sensory information or mediating pure top-down processes such as imagination. However, the…