56 citations · 67 across the 7 of their papers we have counts for
8 papers
Monte Carlo Tree Search with Boltzmann Exploration
Michael Painter, Mohamed Baioumy, Nick Hawes +1
Monte-Carlo Tree Search (MCTS) methods, such as Upper Confidence Bound applied to Trees (UCT), are instrumental to automated planning techniques. However, UCT can be slow to explor…
Unbiased Active Inference for Classical Control
Mohamed Baioumy, Corrado Pezzato, Riccardo Ferrari +1
Active inference is a mathematical framework that originated in computational neuroscience. Recently, it has been demonstrated as a promising approach for constructing goal-driven…
Beta Residuals: Improving Fault-Tolerant Control for Sensory Faults via Bayesian Inference and Precision Learning
Mohamed Baioumy, William Hartemink, Riccardo M. G. Ferrari +1
Model-based fault-tolerant control (FTC) often consists of two distinct steps: fault detection & isolation (FDI), and fault accommodation. In this work we investigate posing fault-…
Active Inference in Robotics and Artificial Agents: Survey and Challenges
Pablo Lanillos, Cristian Meo, Corrado Pezzato +8
Active inference is a mathematical framework which originated in computational neuroscience as a theory of how the brain implements action, perception and learning. Recently, it ha…
Towards Stochastic Fault-tolerant Control using Precision Learning and Active Inference
Mohamed Baioumy, Corrado Pezzato, Carlos Hernandez Corbato +2
This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of w…
On Solving a Stochastic Shortest-Path Markov Decision Process as Probabilistic Inference
Mohamed Baioumy, Bruno Lacerda, Paul Duckworth +1
Previous work on planning as active inference addresses finite horizon problems and solutions valid for online planning. We propose solving the general Stochastic Shortest-Path Mar…
Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference
Mohamed Baioumy, Corrado Pezzato, Riccardo Ferrari +2
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides u…
Active Inference for Integrated State-Estimation, Control, and Learning
Mohamed Baioumy, Paul Duckworth, Bruno Lacerda +1
This work presents an approach for control, state-estimation and learning model (hyper)parameters for robotic manipulators. It is based on the active inference framework, prominent…