Da Costa Lancelot, Lanillos Pablo, Sajid Noor, Friston Karl, Khan Shujhat
Department of Mathematics, Imperial College London, London SW7 2AZ, UK.
Wellcome Centre for Human Neuroimaging, University College London, London WC1N 3AR, UK.
Entropy (Basel). 2022 Mar 2;24(3):361. doi: 10.3390/e24030361.
Recent advances in neuroscience have characterised brain function using mathematical formalisms and first principles that may be usefully applied elsewhere. In this paper, we explain how active inference-a well-known description of sentient behaviour from neuroscience-can be exploited in robotics. In short, active inference leverages the processes thought to underwrite human behaviour to build effective autonomous systems. These systems show state-of-the-art performance in several robotics settings; we highlight these and explain how this framework may be used to advance robotics.
神经科学的最新进展已使用数学形式主义和第一原理来描述大脑功能，这些形式主义和原理可能在其他地方也有用。在本文中，我们解释了如何在机器人技术中利用主动推理——神经科学中对有感知行为的一种著名描述。简而言之，主动推理利用了被认为是人类行为基础的过程来构建有效的自主系统。这些系统在几种机器人技术场景中展现出了最先进的性能；我们将突出这些性能，并解释这个框架如何可用于推动机器人技术的发展。
