Ecosyste.ms: Awesome

An open API service indexing awesome lists of open source software.

Awesome Lists | Featured Topics | Projects

https://github.com/francesco-mannella/activeinferenceincontinuousspace

Last synced: about 1 month ago
JSON representation

Host: GitHub
URL: https://github.com/francesco-mannella/activeinferenceincontinuousspace
Owner: francesco-mannella
Created: 2020-05-27T08:17:30.000Z (over 4 years ago)
Default Branch: master
Last Pushed: 2020-09-03T06:28:29.000Z (over 4 years ago)
Last Synced: 2024-11-07T09:24:08.315Z (3 months ago)
Language: Jupyter Notebook
Size: 909 KB
Stars: 2
Watchers: 3
Forks: 3
Open Issues: 0
Metadata Files:
- Readme: README.md

Awesome Lists containing this project

README

        # Active Inference In Continuous Space

A 1Dof 2D arm controlled through active inference.

* ***[env.py](env.py)***: implements the generative process (the real arm and its dynamics)

* ***[model.py](model.py)***: implements the generative model (internal model of arm  and dynamics)

* ***[simulation.ipynb](simulation.ipynb)***: a test with the main loop of iteration. At each timestep, first the model is updated based on the current sensory state. Then the environment (the generative process is updated based on the action returned by the model. Three simulations with different precisions are presented.

* ***[funcs.py](funcs.py)***: Utility functions as the forward model g(mu) from the proprioceptive state to the 2D coordinates of the hand, and the dynamical system (a proportional-derivative controller)

* ***[plotter.py](plotter.py)***: a collection of objects for plotting

* ***[mkvideo.py](mkvideo.py)***: utility to make gif videos from simulations

* ***[Gradients.ipynb](Gradients.ipynb)***: A notebook describing the derivation of gradients from the free energy equation

### References

[Is this my body? (Part I)](https://msrmblog.github.io/is-this-my-body-1/) by Pablo Lanillos

[An active inference implementation of phototaxis](https://www.mitpressjournals.org/doi/pdfplus/10.1162/isal_a_011) by Manuel Baltieri and Christopher L. Buckley