ArticleEntropy (Basel, Switzerland)2022
Goal-Directed Planning and Goal Understanding by Extended Active Inference: Evaluation through Simulated and Physical Robot Experiments.
Article in Entropy (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed.
- Intermittent Active Inference.Entropy (Basel, Switzerland) · 2026Article
- Neural Associative Skill Memories for Safer Robotics and Modeling Human Sensorimotor Repertoires.Neural computation · 2025Article
- Active Inference with Dynamic Planning and Information Gain in Continuous Space by Inferring Low-Dimensional Latent States.Entropy (Basel, Switzerland) · 2025Article
- Synergizing habits and goals with variational Bayes.Nature communications · 2024Article
- Bio-Inspired Intelligent Systems: Negotiations between Minimum Manifest Task Entropy and Maximum Latent System Entropy in Changing Environments.Entropy (Basel, Switzerland) · 2023Article
- Incremental Learning of Goal-Directed Actions in a Dynamic Environment by a Robot Using Active Inference.Entropy (Basel, Switzerland) · 2023Article
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Authors and funding
4 authors.
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Abstract
We show that goal-directed action planning and generation in a teleological framework can be formulated by extending the active inference framework. The proposed model, which is built on a variational recurrent neural network model, is characterized by three essential features. These are that (1) goals can be specified for both static sensory states, e.g., for goal images to be reached and dynamic processes, e.g., for moving around an object, (2) the model cannot only generate goal-directed action plans, but can also understand goals through sensory observation, and (3) the model generates future action plans for given goals based on the best estimate of the current state, inferred from past sensory observations. The proposed model is evaluated by conducting experiments on a simulated mobile agent as well as on a real humanoid robot performing object manipulation.
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