相关论文: Navigation and Exploration with Active Inference: …

Achieving fully autonomous exploration and navigation remains a critical challenge in robotics, requiring integrated solutions for localisation, mapping, decision-making and motion planning. Existing approaches either rely on strict…

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…

Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…

Inspired by animal navigation strategies, we introduce a novel computational model to navigate and map a space rooted in biologically inspired principles. Animals exhibit extraordinary navigation prowess, harnessing memory, imagination, and…

Active inference is a theory that underpins the way biological agent's perceive and act in the real world. At its core, active inference is based on the principle that the brain is an approximate Bayesian inference engine, building an…

Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

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…

Animal navigation research posits that organisms build and maintain internal spatial representations, or maps, of their environment. We ask if machines -- specifically, artificial intelligence (AI) navigation agents -- also build implicit…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

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…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

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…

Active inference helps us simulate adaptive behavior and decision-making in biological and artificial agents. Building on our previous work exploring the relationship between active inference, well-being, resilience, and sustainability, we…

The active inference framework (AIF) is a promising new computational framework grounded in contemporary neuroscience that can produce human-like behavior through reward-based learning. In this study, we test the ability for the AIF to…

In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…

Inspired by the navigational behavior observed in the animal kingdom and especially the navigational behavior of the ants, we attempt to simulate it in an artificial environment by implementing different kinds of biomimetic algorithms.

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…