Active inference for Robot control: A Factor Graph Approach

Mees Vanderbroeck, Mohamed Baioumy, Daan Van Der Lans, Rens De Rooij & Tiis Van Der Werf
Active Inference provides a framework for perception, action and learning, where the optimization is done by minimizing the Free-Energy of a system. This paper explores whether active inference can be used for closedloop control of a 1 degree of freedom robot arm. This is done by implementing variational message passing on Forney-style factor graphs; a probabilistic programming framework. We show that an active inference controller with variational message passing can perform state estimation and control...
This data repository is not currently reporting usage information. For information on how your repository can submit usage information, please see our documentation.