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Planning and navigation as active inference

Kaplan, R; Friston, KJ; (2018) Planning and navigation as active inference. Biological Cybernetics 10.1007/s00422-018-0753-2. (In press). Green open access

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Abstract

This paper introduces an active inference formulation of planning and navigation. It illustrates how the exploitation-exploration dilemma is dissolved by acting to minimise uncertainty (i.e. expected surprise or free energy). We use simulations of a maze problem to illustrate how agents can solve quite complicated problems using context sensitive prior preferences to form subgoals. Our focus is on how epistemic behaviour-driven by novelty and the imperative to reduce uncertainty about the world-contextualises pragmatic or goal-directed behaviour. Using simulations, we illustrate the underlying process theory with synthetic behavioural and electrophysiological responses during exploration of a maze and subsequent navigation to a target location. An interesting phenomenon that emerged from the simulations was a putative distinction between 'place cells'-that fire when a subgoal is reached-and 'path cells'-that fire until a subgoal is reached.

Type: Article
Title: Planning and navigation as active inference
Location: Germany
Open access status: An open access version is available from UCL Discovery
DOI: 10.1007/s00422-018-0753-2
Publisher version: http://dx.doi.org/10.1007/s00422-018-0753-2
Language: English
Additional information: © The Author(s) 2018 Open Access This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Keywords: Active inference, Bayesian, Curiosity, Epistemic value, Exploitation, Exploration, Free energy, Novelty, Salience
URI: http://discovery.ucl.ac.uk/id/eprint/10048538
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