scholarly journals Active inference and robot control: a case study

2016 ◽  
Vol 13 (122) ◽  
pp. 20160616 ◽  
Author(s):  
Léo Pio-Lopez ◽  
Ange Nizard ◽  
Karl Friston ◽  
Giovanni Pezzulo
Keyword(s):  
Robot Control ◽  
Gain Control ◽  
Generative Models ◽  
Active Inference ◽  
Noise Levels ◽  
Systems Neuroscience ◽  
Sensory Attenuation ◽  
Key Aspects ◽  
Hidden States

Active inference is a general framework for perception and action that is gaining prominence in computational and systems neuroscience but is less known outside these fields. Here, we discuss a proof-of-principle implementation of the active inference scheme for the control or the 7-DoF arm of a (simulated) PR2 robot. By manipulating visual and proprioceptive noise levels, we show under which conditions robot control under the active inference scheme is accurate. Besides accurate control, our analysis of the internal system dynamics (e.g. the dynamics of the hidden states that are inferred during the inference) sheds light on key aspects of the framework such as the quintessentially multimodal nature of control and the differential roles of proprioception and vision. In the discussion, we consider the potential importance of being able to implement active inference in robots. In particular, we briefly review the opportunities for modelling psychophysiological phenomena such as sensory attenuation and related failures of gain control, of the sort seen in Parkinson's disease. We also consider the fundamental difference between active inference and optimal control formulations, showing that in the former the heavy lifting shifts from solving a dynamical inverse problem to creating deep forward or generative models with dynamics, whose attracting sets prescribe desired behaviours.

scholarly journals Degeneracy and Redundancy in Active Inference

2020 ◽  
Vol 30 (11) ◽  
pp. 5750-5766 ◽  
Author(s):  
Noor Sajid ◽  
Thomas Parr ◽  
Thomas M Hope ◽  
Cathy J Price ◽  
Karl J Friston
Keyword(s):  
Structure Function ◽  
Structure Learning ◽  
Distributed Processing ◽  
Generative Models ◽  
Active Inference ◽  
Statistical Efficiency ◽  
Perceptual Inference ◽  
Complexity Cost ◽  
Principled Account ◽  
Key Aspects

Abstract The notions of degeneracy and redundancy are important constructs in many areas, ranging from genomics through to network science. Degeneracy finds a powerful role in neuroscience, explaining key aspects of distributed processing and structure–function relationships in the brain. For example, degeneracy accounts for the superadditive effect of lesions on functional deficits in terms of a “many-to-one” structure–function mapping. In this paper, we offer a principled account of degeneracy and redundancy, when function is operationalized in terms of active inference, namely, a formulation of perception and action as belief updating under generative models of the world. In brief, “degeneracy” is quantified by the “entropy” of posterior beliefs about the causes of sensations, while “redundancy” is the “complexity” cost incurred by forming those beliefs. From this perspective, degeneracy and redundancy are complementary: Active inference tries to minimize redundancy while maintaining degeneracy. This formulation is substantiated using statistical and mathematical notions of degenerate mappings and statistical efficiency. We then illustrate changes in degeneracy and redundancy during the learning of a word repetition task. Finally, we characterize the effects of lesions—to intrinsic and extrinsic connections—using in silico disconnections. These numerical analyses highlight the fundamental difference between degeneracy and redundancy—and how they score distinct imperatives for perceptual inference and structure learning that are relevant to synthetic and biological intelligence.

scholarly journals The evolution of brain architectures for predictive coding and active inference

2021 ◽  
Vol 377 (1844) ◽  
Author(s):  
Giovanni Pezzulo ◽  
Thomas Parr ◽  
Karl Friston
Keyword(s):  
Predictive Control ◽  
Animal Species ◽  
Spatial Scales ◽  
Predictive Coding ◽  
Generative Models ◽  
Predictive Processing ◽  
Active Inference ◽  
Biological Regulation ◽  
Systems Neuroscience ◽  
Behavioural Repertoire

This article considers the evolution of brain architectures for predictive processing. We argue that brain mechanisms for predictive perception and action are not late evolutionary additions of advanced creatures like us. Rather, they emerged gradually from simpler predictive loops (e.g. autonomic and motor reflexes) that were a legacy from our earlier evolutionary ancestors—and were key to solving their fundamental problems of adaptive regulation. We characterize simpler-to-more-complex brains formally, in terms of generative models that include predictive loops of increasing hierarchical breadth and depth. These may start from a simple homeostatic motif and be elaborated during evolution in four main ways: these include the multimodal expansion of predictive control into an allostatic loop; its duplication to form multiple sensorimotor loops that expand an animal's behavioural repertoire; and the gradual endowment of generative models with hierarchical depth (to deal with aspects of the world that unfold at different spatial scales) and temporal depth (to select plans in a future-oriented manner). In turn, these elaborations underwrite the solution to biological regulation problems faced by increasingly sophisticated animals. Our proposal aligns neuroscientific theorising—about predictive processing—with evolutionary and comparative data on brain architectures in different animal species. This article is part of the theme issue ‘Systems neuroscience through the lens of evolutionary theory’.

scholarly journals Generative Models for Relief Perspective Architectures

2021 ◽  
Author(s):  
Leonardo Baglioni ◽  
Federico Fallavollita
Keyword(s):  
Research Methodology ◽  
Affine Space ◽  
Three Dimensional ◽  
Generative Models ◽  
Linear Perspective ◽  
Dimensional Structure ◽  
Three Dimensional Structure ◽  
Present Essay ◽  
Santa Maria

AbstractThe present essay investigates the potential of generative representation applied to the study of relief perspective architectures realized in Italy between the sixteenth and seventeenth centuries. In arts, and architecture in particular, relief perspective is a three-dimensional structure able to create the illusion of great depths in small spaces. A method of investigation applied to the case study of the Avila Chapel in Santa Maria in Trastevere in Rome (Antonio Gherardi 1678) is proposed. The research methodology can be extended to other cases and is based on the use of a Relief Perspective Camera, which can create both a linear perspective and a relief perspective. Experimenting mechanically and automatically the perspective transformations from the affine space to the illusory space and vice versa has allowed us to see the case study in a different light.

scholarly journals Active Inference: Applicability to Different Types of Social Organization Explained through Reference to Industrial Engineering and Quality Management

Entropy ◽  
2021 ◽  
Vol 23 (2) ◽  
pp. 198
Author(s):  
Stephen Fox
Keyword(s):  
Artificial Intelligence ◽  
Quality Management ◽  
Social Organization ◽  
Generative Models ◽  
Industrial Engineering ◽  
Prediction Errors ◽  
Active Inference ◽  
For Profit ◽  
Different Types ◽  
Inference Theory

Active inference is a physics of life process theory of perception, action and learning that is applicable to natural and artificial agents. In this paper, active inference theory is related to different types of practice in social organization. Here, the term social organization is used to clarify that this paper does not encompass organization in biological systems. Rather, the paper addresses active inference in social organization that utilizes industrial engineering, quality management, and artificial intelligence alongside human intelligence. Social organization referred to in this paper can be in private companies, public institutions, other for-profit or not-for-profit organizations, and any combination of them. The relevance of active inference theory is explained in terms of variational free energy, prediction errors, generative models, and Markov blankets. Active inference theory is most relevant to the social organization of work that is highly repetitive. By contrast, there are more challenges involved in applying active inference theory for social organization of less repetitive endeavors such as one-of-a-kind projects. These challenges need to be addressed in order for active inference to provide a unifying framework for different types of social organization employing human and artificial intelligence.

scholarly journals Filling in the Missing Link between Universalism and Democracy: The Case of Costa Rica

2014 ◽  
Vol 56 (4) ◽  
pp. 98-118 ◽  
Author(s):  
Juliana Martínez Franzoni ◽  
Diego Sánchez-Ancochea
Keyword(s):  
Costa Rica ◽  
Policy Process ◽  
Policy Design ◽  
Building Blocks ◽  
Missing Link ◽  
Payroll Taxes ◽  
Adoption And Implementation ◽  
Successful Case ◽  
Key Aspects

AbstractThis article explores a missing link in the recent literature on the formation of social policies: that between democracy and universalism, one desirable yet elusive feature of these policies. We base our argument on a case study of Costa Rica, the most successful case of universalism in Latin America. We proceed by first depicting Costa Rica's peculiar policy architecture, based on the incremental expansion of benefits funded on payroll taxes. Then we reconstruct the policy process to stress the key role played by technopoliticians in a democratic context. Backed by political leadership and equipped with international ideas, technopoliticians drove social policy design from agenda setting to adoption and implementation. Third, we argue that key aspects of the policy architecture established in the early 1940s were fundamental building blocks for a distinctive and seldom explored road to universalism. We conclude considering contemporary implications.

A Theory for Enterprise Coherence Governance

2014 ◽  
pp. 150-191 ◽  
Author(s):  
Roel Wagter ◽  
Henderik A. Proper ◽  
Dirk Witte
Keyword(s):  
Enterprise Architecture ◽  
Business Processes ◽  
Design Science ◽  
Research Programme ◽  
Product Portfolio ◽  
Starting Point ◽  
Project Failures ◽  
It Support ◽  
Key Aspects

In this chapter, the authors pose a theory for the governance of enterprise coherence. The proposed theory consists of three key ingredients: an Enterprise Coherence-governance Assessment (ECA), an Enterprise Coherence Framework (ECF), and an Enterprise Coherence Governance (ECG) approach. The ECA provides an explicit indication of the degree at which an organisation governs its coherence, while also providing a base to achieve a shared understanding of the level of coherence, and actions needed to improve it. The ECF is a practice-based framework that enables enterprises to make the coherence between key aspects, such as business, finance, culture, IT, etc. explicit. The ECG approach offers the instruments to guard/improve the level of coherence in enterprises during transformations. An important trigger to develop this new theory was the observation that many transformation projects fail. These failures even included projects that used an explicit enterprise architecture to steer the transformation. The theory was developed as part of the GEA (General Enterprise Architecting) research programme, involving twenty client organizations. Based on a survey of the possible causes for the project failures, the requirements for the research programme are identified. In developing the theory on enterprise coherence, the following hypothesis is used as a starting point: the overall performance of an enterprise is positively influenced by a strong coherence among the key aspects of the enterprise, including business processes, organizational culture, product portfolio, human resources, information systems, IT support, etc. The research programme uses a combination of design science-based iterations and case study-based research to develop and iterate the theory for enterprise coherence governance. In this chapter, the authors also discuss one of the conducted (real world) case studies, showing the application of the enterprise coherence theory.

Understanding the use of ground-penetrating radar for assessing clandestine tunnel detection

2019 ◽  
Vol 38 (6) ◽  
pp. 453-459
Author(s):  
Nectaria Diamanti ◽  
A. Peter Annan
Keyword(s):  
Ground Penetrating Radar ◽  
Minimal Amount ◽  
Operational Environment ◽  
Field Case ◽  
Tunnel Detection ◽  
Specific Focus ◽  
Key Aspects ◽  
Ground Penetrating

We provide a coherent approach for developing an understanding of how and where ground-penetrating radar (GPR) can be deployed for tunnel detection. While tunnels in general are of interest, the more specific focus is tunnels that are hand dug or created with a minimal amount of equipment and resources for clandestine purposes. Determining whether GPR can be used for tunnel detection is impossible without an in-depth knowledge of the operational environment and constraints. To effectively address the question, we define the general characteristics of clandestine tunnels, discuss how to estimate the responses amplitude, define the dominant noise types associated with GPR data, and point out how those factors are affected by the GPR system. The key aspects are illustrated using a controlled field case study.

A development process for extending buildings vertically – based on a case study of four extended buildings

2019 ◽  
Vol 19 (3) ◽  
pp. 367-385
Author(s):  
Rikard Sundling
Keyword(s):  
Diffusion Of Innovation ◽  
Development Process ◽  
Planning Process ◽  
Case Study Research ◽  
Successful Implementation ◽  
Content Type ◽  
Vertical Extension ◽  
Development Evaluation ◽  
Key Aspects

Purpose The purpose of the study, upon which this paper is based, was to contribute an improved understanding of the vertical extension of buildings, by presenting a development process for its implementation in which the key aspects to consider when planning such extensions are highlighted. Design/methodology/approach The approach is based on linking the diffusion of innovation together with case study research to stimulate further development in vertically extending buildings. Four cases of vertically extended buildings in Sweden were selected for the study. Findings The development process highlights seven key areas for decisions when planning a vertical extension. These areas are: opportunities for vertical extension; strategies for implementation; detailed planning process; concept development; evaluation; building permit; and procurement. The development processes and lessons learnt from each case are presented, covering both success and failure. Research limitations/implications The research is based on four cases of vertically extended buildings. The findings offer valuable insights into the development process which should provide the research community with an improved understanding of the challenges faced. Practical implications The findings will help planners, housing owners, housing developers and facility managers better understand the conditions that favour successful implementation of vertical extensions. Originality/value The paper provides the reader with an understanding of the challenges faced in the vertical extension of a building and the means of overcoming them to create a simplified development process.

scholarly journals The Myth of an 'Invisible Mediator': An Australian Case Study of English-Japanese Police Interpreting

2009 ◽  
Vol 6 (1) ◽  
Author(s):  
Ikuko Nakane
Keyword(s):  
Conversation Analysis ◽  
Professional Ethics ◽  
Police Interviews ◽  
Mediated Discourse ◽  
Australian Case ◽  
Ethics Guidelines ◽  
Key Aspects ◽  
Japanese English ◽  
Interaction Management

Recent studies have challenged the assumption that the interpreter is an ‘invisible’ mediator and have demonstrated a departure from the ‘conduit’ role often assigned to interpreters in their professional ethics guidelines (e.g. Russell 2000, Wadensjö 1998, 2004; Yoshida 2007). In this paper, I address the issue of interpreter’s role as an invisible mediator through an examination of interactional ‘repairs’, one of the key aspects of interaction management mechanisms in the tradition of Conversation Analysis. The context of interpreting is Australian Federal Police interviews mediated by Japanese-English interpreters. While some repair sequences in interpreter-mediated police interviews followed common patterns of monolingual police interviews, there were also some features of repairs specific to interpreter-mediated discourse. In particular, due to the interpreting of each turn, in some cases, it is not always possible to ascertain whether it was the primary speaker’s turn or the interpreted version that was the source of ‘trouble’ leading to an interactional repair. The paper demonstrates interpreters’ vulnerability to being identified as the ‘troublemaker’ in repair sequences and consequential face-saving strategies. These strategies included modifying the primary speaker’s utterances or providing explanations for why a need to repair was perceived or why a repair sequence failed to rectify a problem. It is demonstrated that in engaging in these types of problem solving activities, interpreters at times shift roles, sometimes pushing the boundaries of their professional ethics. The paper argues that, while interpreters are often viewed as operating within a third ‘invisible’ space between interlocutors, this invisibility needs to be questioned. It is suggested that the expectation of a completely invisible, or neutral, third space is unrealistic, and that interpreters as cultural and linguistic mediators, and as social beings, continuously negotiate their identity with their clients while interpreting.

Fighting overtourism in Lanzarote (Spain)

2019 ◽  
Vol 11 (5) ◽  
pp. 506-515 ◽  
Author(s):  
Rita R. Carballo ◽  
Carmelo J. León ◽  
María M. Carballo
Keyword(s):  
Design Methodology ◽  
Local Population ◽  
Tourism Development ◽  
Case Study Approach ◽  
Content Type ◽  
Sustainable Tourism Development ◽  
Study Approach ◽  
Key Aspects ◽  
Main Engine

Purpose Lanzarote, Spain, as a tourism destination, suffered a rapid tourist expansion for many years, and this has endangered its sustainability. The purpose of this study is to investigate the case of overtourism and its consequences for the local population and the environment, and to identify ways to mitigate this issue. Design/methodology/approach The study uses a case study approach. Data obtained from tourists visiting the destination were used to examine three key aspects of tourism development, namely, the arrival of tourists to the island, the accommodation offer and the growth of the population. Social awareness with environmental values and protection of the island’s natural resources were the main engine to establish measures to mitigate overtourism. Findings The analysis shows rapid growth in the arrival of tourists to the island and how it affected the accommodation offer and the population. It explores the solution that the authorities of the island took to solve the problem of disorganized growth of tourism and makes reference to the importance of managing the image of a destination to contribute to tourism sustainability. Originality/value This research proposes practical solutions to tackle overtourism at a destination which has been used by the United Nations as an example to establish sustainable tourism development guidelines. It proposes a unique mitigation strategy which is derived from the use of natural recreation.

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