{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/coupled-autoregressive-active-inference","title":"Coupled autoregressive active inference agents for control of multi-joint dynamical systems","arxiv_id":"2410.10415","date":"2024-10-14","proceeding":null,"authors":["Tim N. Nisslbeck","Wouter M. Kouw"],"abstract":"We propose an active inference agent to identify and control a mechanical system with multiple bodies connected by joints. This agent is constructed from multiple scalar autoregressive model-based agents, coupled together by virtue of sharing memories. Each subagent infers parameters through Bayesian filtering and controls by minimizing expected free energy over a finite time horizon. We demonstrate that a coupled agent of this kind is able to learn the dynamics of a double mass-spring-damper system, and drive it to a desired position through a balance of explorative and exploitative actions. It outperforms the uncoupled subagents in terms of surprise and goal alignment.","url_abs":"https://arxiv.org/abs/2410.10415v1","url_pdf":"https://arxiv.org/pdf/2410.10415v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"coupled-autoregressive-active-inference","repo_url":"https://github.com/biaslab/iwai2024-carxefe","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":null,"task_name":"Position"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}