相关论文: Deep Active Inference with Diffusion Policy and Mu…

High-level theories rooted in the Bayesian Brain Hypothesis often frame cognitive effort as the cost of resolving the conflict between habits and optimal policies. In parallel, evidence accumulator models (EAMs) provide a mechanistic…

Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Navigation in the natural world is a feat of adaptive inference, where biological organisms maintain goal-directed behaviour despite noisy and incomplete sensory streams. Central to this ability is the Free Energy Principle (FEP), which…

Active inference, a corollary of the free energy principle, is a formal way of describing the behavior of certain kinds of random dynamical systems that have the appearance of sentience. In this chapter, we describe how active inference…

Active inference is a state-of-the-art framework in neuroscience that offers a unified theory of brain function. It is also proposed as a framework for planning in AI. Unfortunately, the complex mathematics required to create new models --…

Optimal control of complex environments with robotic systems faces two complementary and intertwined challenges: efficient organization of sensory state information and far-sighted action planning. Because the reinforcement learning…

Active inference is a mathematical framework which originated in computational neuroscience as a theory of how the brain implements action, perception and learning. Recently, it has been shown to be a promising approach to the problems of…

Active Inference is a theory of action arising from neuroscience which casts action and planning as a bayesian inference problem to be solved by minimizing a single quantity - the variational free energy. Active Inference promises a…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables multiple behavior modes for the agent, including exploration,…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…

Active inference is a leading theory of perception, learning and decision making, which can be applied to neuroscience, robotics, psychology, and machine learning. Active inference is based on the expected free energy, which is mostly…

Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and…

Handling heterogeneity and unpredictability are two core problems in pervasive computing. The challenge is to seamlessly integrate devices with varying computational resources in a dynamic environment to form a cohesive system that can…

Diffusion policies (DP) have demonstrated significant potential in visual navigation by capturing diverse multi-modal trajectory distributions. However, standard imitation learning (IL), which most DP methods rely on for training, often…

Despite the potential of active inference for visual-based control, learning the model and the preferences (priors) while interacting with the environment is challenging. Here, we study the performance of a deep active inference (dAIF)…

We explore the use of Active Inference (AIF) as a computational user model for spatial pointing, a key problem in Human-Computer Interaction (HCI). We present an AIF agent with continuous state, action, and observation spaces, performing…

We develop an active inference route-planning method for the autonomous control of intelligent agents. The aim is to reconnoiter a geographical area to maintain a common operational picture. To achieve this, we construct an evidence map…

To date, formal models of collective intelligence have lacked a plausible mathematical description of the relationship between local-scale interactions between highly autonomous sub-system components (individuals) and global-scale behavior…