Generalised Motions in Active Inference by finite differences: Active Inference in Robotics

This thesis is a contribution to the research on Active Inference for Robotics. Active Inference is an intricate, intriguing theory from neuroscience, a field in which it has already gained a greater following and popularity. This theory, based on the underlying Free Energy Principle, provides a unified account of perception, action and learning...

Hierarchical Active Inference for Continuous Robot Control: Goal-Directed Hierarchical Models for Active Inference Agents

Active inference is a method for state estimation and control actions that is based on the Free Energy principle, which explains how biological agents infer the state of their environment and act upon it by maintaining a model of that environment and evaluating predictions. This method merges both action and sensory processing and is therefore a...

MAIC: Multimodal Active Inference Controller

Active inference, a theoretical construct inspired by brain processing, is a promising approach to control artificial agents. Here we present a novel multimodal active inference torque controller for industrial arms that improves the adaptive characteristics of previous active inference approaches but also enables multimodal integration with any...

Knowledge-based Approach for Mobile Manipulation with Active Inference

Achieving human-like action planning requires profound reasoning and context-awareness capabilities. It is especially true for autonomous robotic mobile manipulation in dynamic environments. In the case of component failure, the autonomous robotic system requires reliable adaptation capabilities combined with a consistent understanding of the...