Congratulations to Prof. Gordon Cheng and our former colleague Pablo Lanillos, their paper on "An empirical study of active inference on a humanoid robot" has been published in the journal IEEE Transactions on Cognitive and Developmental Systems as early access.
The paper investigates the suitability of Active inference, a computational model proposed for the brain and governed by the free-energy principle, for robotic body perception and action in a non-simulated environment. We designed and deployed the algorithm on the humanoid iCub showing how our proposed model enabled the robot to have adaptive body perception and to perform robust upper-body reaching and head object tracking behaviours even under high levels of sensor noise and discrepancies between the model and the real robot.
G. Oliver, P. Lanillos and G. Cheng, "An empirical study of active inference on a humanoid robot," in IEEE Transactions on Cognitive and Developmental Systems, doi: 10.1109/TCDS.2021.3049907.
Read it here: https://ieeexplore.ieee.org/document/9316712