ActInf ModelStream 018.1: Robust Decision-Making Via Free Energy Minimization (Russo & Jesawada) скачать в хорошем качестве

ActInf ModelStream 018.1: Robust Decision-Making Via Free Energy Minimization (Russo & Jesawada)

Robust Decision-Making Via Free Energy Minimization Allahkaram Shafiei, Hozefa Jesawada, Karl Friston, Giovanni Russo https://arxiv.org/abs/2503.13223 Code: https://github.com/GIOVRUSSO/Control-... Despite their groundbreaking performance, state-of-the-art autonomous agents can misbehave when training and environmental conditions become inconsistent, with minor mismatches leading to undesirable behaviors or even catastrophic failures. Robustness towards these training/environment ambiguities is a core requirement for intelligent agents and its fulfillment is a long-standing challenge when deploying agents in the real world. Here, departing from mainstream views seeking robustness through training, we introduce DR-FREE, a free energy model that installs this core property by design. It directly wires robustness into the agent decision-making mechanisms via free energy minimization. By combining a robust extension of the free energy principle with a novel resolution engine, DR-FREE returns a policy that is optimal-yet-robust against ambiguity. Moreover, for the first time, it reveals the mechanistic role of ambiguity on optimal decisions and requisite Bayesian belief updating. We evaluate DR-FREE on an experimental testbed involving real rovers navigating an ambiguous environment filled with obstacles. Across all the experiments, DR-FREE enables robots to successfully navigate towards their goal even when, in contrast, standard free energy minimizing agents that do not use DR-FREE fail. In short, DR-FREE can tackle scenarios that elude previous methods: this milestone may inspire both deployment in multi-agent settings and, at a perhaps deeper level, the quest for a biologically plausible explanation of how natural agents - with little or no training - survive in capricious environments. ---- Active Inference Institute information: Website: https://www.activeinference.institute/ Activities: https://activities.activeinference.in... Discord: https://discord.activeinference.insti... Donate: http://donate.activeinference.institute/ YouTube:    / activeinference   X: https://x.com/InferenceActive Active Inference Livestreams: https://video.activeinference.institute/