A comparison of Active Inference and Linear-Quadratic Gaussian control: Equivalence and differences for two settings

The Free Energy Principle, which underlies Active Inference (AI), is a way to explain human perception and behaviour. Previous literature has hinted at a relation between AI and Linear-Quadratic Gaussian (LQG) control, the latter being a textbook controller. AI and LQG are, however, defined with different settings in mind: LQG has access to...

The State Space Formulation of Active Inference: Towards Brain-Inspired Robot Control

This thesis provides an exposition of the theory of Active Inference in a control theoretic context. Active Inference is a remarkably powerful neuroscientific theory that unifies many characteristics of the biological brain. As such, Active Inference provides a valid inspiration in search of improvements in bio-inspired robot control algorithms....