Active Inference in Robotics and Artificial Agents: Survey and Challenges
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 state-estimation and control under uncertainty, as well as a foundation for the construction of goal-driven behaviours in robotics and artificial agents in general. Here, we review the state-of-the-art theory and implementations of active inference for state-estimation, control, planning and learning; describing current achievements with a particular focus on robotics. We showcase relevant experiments that illustrate its potential in terms of adaptation, generalization and robustness. Furthermore, we connect this approach with other frameworks and discuss its expected benefits and challenges: a unified framework with functional biological plausibility using variational Bayesian inference.
Code (0)
등록된 구현이 없습니다.
Tasks
Bayesian InferenceState EstimationSurveySimilar Papers 제목 키워드 기반
Sensorimotor representation learning for an "active self" in robots: A model survey
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstruct…
Representation LearningThe Free Energy Principle for Perception and Action: A Deep Learning Perspective
The free energy principle, and its corollary active inference, constitute a bio-inspired theory that assumes biological agents act to remain in a restricted set of preferred states of the world, i.e., they minimize their…
Deep LearningVariational InferenceUnderstanding Tool Discovery and Tool Innovation Using Active Inference
The ability to invent new tools has been identified as an important facet of our ability as a species to problem solve in dynamic and novel environments. While the use of tools by artificial agents presents a challenging…
Understanding the Application of Utility Theory in Robotics and Artificial Intelligence: A Survey
As a unifying concept in economics, game theory, and operations research, even in the Robotics and AI field, the utility is used to evaluate the level of individual needs, preferences, and interests. Especially for decis…
Decision Making"Dave...I can assure you...that it's going to be all right..." -- A definition, case for, and survey of algorithmic assurances in human-autonomy trust relationships
People who design, use, and are affected by autonomous artificially intelligent agents want to be able to \emph{trust} such agents -- that is, to know that these agents will perform correctly, to understand the reasoning…
All