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Pezzato, C. (author), Hernández, Carlos (author), Bonhof, S.D. (author), Wisse, M. (author)In this article, we propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed approach allows handling partially observable initial states and improves the...journal article 2023