4 papers
Free-Energy Minimizing Policies Under Generative Model Ambiguity
Arash Shafiei, Caio César Graciani Rodrigues, Giovanni Russo
We present a variational free-energy formulation for distributionally robust decision-making with ambiguity in the generative model. The formulation, related to a broad range of le…
Learning-Based Robust Control: Unifying Exploration and Distributional Robustness for Reliable Robotics via Free Energy
Hozefa Jesawada, Giovanni Russo, Abdalla Swikir +1
A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the…
DR-PETS: Learning-Based Control With Planning in Adversarial Environments
Hozefa Jesawada, Antonio Acernese, Giovanni Russo +1
Ensuring robustness against epistemic, possibly adversarial, perturbations is essential for reliable real-world decision-making. While the Probabilistic Ensembles with Trajectory S…
Distributionally Robust Free Energy Principle for Decision-Making
Allahkaram Shafiei, Hozefa Jesawada, Karl Friston +1
Despite their groundbreaking performance, autonomous agents can misbehave when training and environmental conditions become inconsistent, with minor mismatches leading to undesirab…