The paper presents an active inference route‑planning method for autonomous agents tasked with reconnaissance missions. It builds an evidence map that integrates both positive and negative sensor observations over time, using Dempster‑Shafer theory and a Gaussian sensor model to update a posterior probability distribution. By computing variational free energy across positions, the agent moves incrementally toward locations that minimize free energy, balancing exploration of large areas with exploitation of identified targets.
arXiv:2608. 14466v1 Announce Type: cross Abstract: An autonomous robot efficiently exploring an unknown environment, such as looking for water sources on Mars, faces two simultaneous demands: building an accurate information map while quickly finding the regions of greatest value, and paying for every meter of travel and the cost of every measurement it takes.
arXiv:2606. 14879v1 Announce Type: cross Abstract: Mobile agents require efficient exploration strategies to map unseen environments and autonomously plan tasks.
arXiv:2606. 18888v1 Announce Type: new Abstract: Navigation in partially observable environments presents a significant challenge for autonomous agents, requiring effective decision-making with limited sensory information in unknown environments.
arXiv:2609.38383v1 Announce Type: cross Abstract: Random exploration reveals how an environment can be traversed before a goal is specified. Can this experience support long-range planning without po...
arXiv:2609.39342v1 Announce Type: cross Abstract: Intrinsic motivation plays a central role in adaptive and goal-directed behavior by conferring agents reward-independent objectives and biases useful...
Intrinsic motivation plays a central role in adaptive and goal-directed behavior by conferring agents reward-independent objectives and biases useful to act in noisy and uncertain environments. Active...
arXiv:2606. 17408v1 Announce Type: cross Abstract: Generative robot policies typically begin action generation from an observation-independent standard Gaussian distribution, leaving the choice of source distribution underexplored.
arXiv:2609.26021v1 Announce Type: new Abstract: Dynamic black-box optimization presents significant challenges for Bayesian Optimization (BO), as the objective function evolves over time, causing opt...
The paper presents a deep active inference framework for real‑world robotic navigation that combines a diffusion policy with a multiple‑timescale recurrent state‑space model. The diffusion policy generates diverse candidate actions, while the state‑space model predicts long‑horizon outcomes, allowing the system to select actions that minimize expected free energy. Experiments show higher success rates and fewer collisions, especially in exploration‑heavy scenarios, demonstrating the effectiveness of this unified exploration and goal‑directed approach.
The paper introduces Belief-Aware Multi-Agent Path Finding under Map Uncertainty, addressing the challenge that real-world environments can change unexpectedly. It proposes MAGIC, a framework that uses a Gaussian Markov Random Field and Gaussian Belief Propagation to update a shared belief about traversability online, allowing agents to infer the state of nearby unobserved locations. Experiments on standard MAPF benchmarks show that MAGIC reduces the executed sum of costs on 96.3% of instances, outperforming existing approaches across various planner families and large agent teams.
arXiv:2501. 13084v2 Announce Type: replace Abstract: Active inverse source localization and characterization (ISLC) in dynamic fields requires sequential decision making under partial observability, where a mobile sensor must infer latent source parameters from sparse, noisy readings.
arXiv:2606. 04935v1 Announce Type: new Abstract: Active inference casts decision-making as inference, with the Expected Free Energy (EFE) unifying goal-directed and information-seeking behavior.