Active Inference for Integrated State-Estimation, Control, and Learning
Mohamed Baioumy Paul Duckworth Bruno Lacerda Nick Hawes Mohamed Baioumy Paul Duckworth Bruno Lacerda Nick Hawes
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, where behaviour arises from minimizing variational free-energy. First, we show there is a direct relationship between active inference controllers, and classic met...