Active Inference or Control as Inference? A Unifying View

10/01/2020
by   Joe Watson, et al.
6

Active inference (AI) is a persuasive theoretical framework from computational neuroscience that seeks to describe action and perception as inference-based computation. However, this framework has yet to provide practical sensorimotor control algorithms that are competitive with alternative approaches. In this work, we frame active inference through the lens of control as inference (CaI), a body of work that presents trajectory optimization as inference. From the wider view of `probabilistic numerics', CaI offers principled, numerically robust optimal control solvers that provide uncertainty quantification, and can scale to nonlinear problems with approximate inference. We show that AI may be framed as partially-observed CaI when the cost function is defined specifically in the observation states.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 3

page 4

10/07/2019

Stochastic Optimal Control as Approximate Input Inference

Optimal control of stochastic nonlinear dynamical systems is a major cha...
05/22/2018

Active Inference for Adaptive BCI: application to the P300 Speller

Adaptive Brain-Computer interfaces (BCIs) have shown to improve performa...
05/17/2021

Stochastic Control through Approximate Bayesian Input Inference

Optimal control under uncertainty is a prevailing challenge in control, ...
11/24/2019

Scaling active inference

In reinforcement learning (RL), agents often operate in partially observ...
05/12/2020

Active Inference for Integrated State-Estimation, Control, and Learning

This work presents an approach for control, state-estimation and learnin...
08/27/2021

Active Inference for Stochastic Control

Active inference has emerged as an alternative approach to control probl...
01/02/2016

A Unified Framework for Compositional Fitting of Active Appearance Models

Active Appearance Models (AAMs) are one of the most popular and well-est...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.