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cs.RO2024
Navigation under uncertainty: Trajectory prediction and occlusion reasoning with switching dynamical systems
Ran Wei, Joseph Lee, Shohei Wakayama +10
Predicting future trajectories of nearby objects, especially under occlusion, is a crucial task in autonomous driving and safe robot navigation. Prior works typically neglect to ma…
cs.LG2024
From pixels to planning: scale-free active inference
Karl Friston, Conor Heins, Tim Verbelen +7
This paper describes a discrete state-space model -- and accompanying methods -- for generative modelling. This model generalises partially observed Markov decision processes to in…
nlin.AO2024
Collective behavior from surprise minimization
Conor Heins, Beren Millidge, Lancelot da Costa +3
Collective motion is ubiquitous in nature; groups of animals, such as fish, birds, and ungulates appear to move as a whole, exhibiting a rich behavioral repertoire that ranges from…