Neo-FREE: Policy Composition Through Thousand Brains And Free Energy Optimization

Autor:	Rossi, Francesca, Garrabé, Émiland, Russo, Giovanni
Rok vydání:	2024
Předmět:	Mathematics - Optimization and Control Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	We consider the problem of optimally composing a set of primitives to tackle control tasks. To address this problem, we introduce Neo-FREE: a control architecture inspired by the Thousand Brains Theory and Free Energy Principle from cognitive sciences. In accordance with the neocortical (Neo) processes postulated by the Thousand Brains Theory, Neo-FREE consists of functional units returning control primitives. These are linearly combined by a gating mechanism that minimizes the variational free energy (FREE). The problem of finding the optimal primitives' weights is then recast as a finite-horizon optimal control problem, which is convex even when the cost is not and the environment is nonlinear, stochastic, non-stationary. The results yield an algorithm for primitives composition and the effectiveness of Neo-FREE is illustrated via in-silico and hardware experiments on an application involving robot navigation in an environment with obstacles. Comment: 13 pages, 2 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2412.06636 Zobrazit plný text záznamu View this record from Arxiv