January 01, 2020 conference-paper Aachen paper

Active Inference or Control as Inference? A Unifying View

Communications in computer and information science, pp. 12–19

DOI: 10.1007/978-3-030-64919-7_2 OpenAlex

Authors 3

Abraham Imohiosen Aachen

RWTH Aachen University

Affiliation as printed

RWTH Aachen University, Aachen, Germany
Joe Watson corresponding

Technische Universität Darmstadt

Affiliation as printed

IAS, Technical University Darmstadt, Darmstadt, Germany
Jan Peters

Technische Universität Darmstadt

Affiliation as printed

IAS, Technical University Darmstadt, Darmstadt, Germany

Cited by 13 stored of 13

Distributionally robust free energy principle for decision-making
2025 Nature Communications article Computer Science Reinforcement Learning in Robotics Open access

2

citations
Coupled Autoregressive Active Inference Agents for Control of Multi-joint Dynamical Systems
2024 Communications in computer and information science conference-paper Computer Science Reinforcement Learning in Robotics

1

citations
A computationally informed distinction of interoception and exteroception
2024 Neuroscience & Biobehavioral Reviews article Neuroscience Embodied and Extended Cognition Open access

30

citations
A Survey on Cyber-Physical Security of Autonomous Vehicles Using a Context Awareness Method
2023 IEEE Access article Computer Science Anomaly Detection Techniques and Applications Open access

9

citations
How Active Inference Could Help Revolutionise Robotics
2022 Entropy article Neuroscience Embodied and Extended Cognition Open access

44

citations
A Unifying View of Estimation and Control Using Belief Propagation With Application to Path Planning
2022 IEEE Access article Computer Science Bayesian Modeling and Causal Inference Open access

16

citations
Active Inference Through Energy Minimization in Multimodal Affective Human–Robot Interaction
2021 Frontiers in Robotics and AI article Neuroscience Face Recognition and Perception Open access

10

citations
Kalman filters as the steady-state solution of gradient descent on variational free energy
2021 arXiv (Cornell University) preprint Neuroscience Neural dynamics and brain function Open access

3

citations
Chance-Constrained Active Inference
2021 Neural Computation article Neuroscience Neural dynamics and brain function Open access

7

citations
A Unified View of Algorithms for Path Planning Using Probabilistic Inference on Factor Graphs
2021 arXiv (Cornell University) preprint Computer Science Robotic Path Planning Algorithms Open access

0

citations
Neural Dynamics under Active Inference: Plausibility and Efficiency of Information Processing
2021 UCL Discovery (University College London) article Neuroscience Neural dynamics and brain function

37

citations
Application of the Free Energy Principle to Estimation and Control
2021 IEEE Transactions on Signal Processing article Biochemistry, Genetics and Molecular Biology Gene Regulatory Network Analysis Open access

10

citations
Towards Stochastic Fault-Tolerant Control Using Precision Learning and Active Inference
2021 Communications in computer and information science conference-paper Engineering Fault Detection and Control Systems Open access

9

citations

13 results

No patents citing this paper on Lens.org (checked 2026-10-06).

References 30

Machine Learning : A Probabilistic Perspective
2012 article Computer Science Computational Physics and Python Applications

9,207

citations
The free-energy principle: a unified brain theory?
2010 Nature reviews. Neuroscience review Neuroscience Embodied and Extended Cognition

8,398

citations
Bayesian Filtering and Smoothing
2013 Cambridge University Press eBooks book Computer Science Target Tracking and Data Fusion in Sensor Networks

1,798

citations
Active Inference: A Process Theory
2016 Neural Computation article Neuroscience Embodied and Extended Cognition Open access

1,245

citations
Synthesis and stabilization of complex behaviors through online trajectory optimization
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) conference-paper Engineering Robotic Locomotion and Control

774

citations
Bayesian Filtering and Smoothing
2013 book Computer Science Target Tracking and Data Fusion in Sensor Networks

742

citations
The Factor Graph Approach to Model-Based Signal Processing
2007 Proceedings of the IEEE article Computer Science Target Tracking and Data Fusion in Sensor Networks

541

citations
Probabilistic inference for solving discrete and continuous state Markov Decision Processes
2006 International Conference on Machine Learning conference-paper Computer Science Reinforcement Learning in Robotics

497

citations
Reinforcement Learning or Active Inference?
2009 PLoS ONE article Neuroscience Embodied and Extended Cognition Open access

458

citations
Uncertainty in Artificial Intelligence
1988 Machine intelligence and pattern recognition book Computer Science Bayesian Modeling and Causal Inference

412

citations
Linearly-solvable Markov decision problems
2007 The MIT Press eBooks book-chapter Computer Science Reinforcement Learning in Robotics

352

citations
Robot trajectory optimization using approximate inference
2009 International Conference on Machine Learning conference-paper Computer Science Reinforcement Learning in Robotics

325

citations
Path integrals and symmetry breaking for optimal control theory
2005 Journal of Statistical Mechanics Theory and Experiment article Computer Science Adaptive Dynamic Programming Control Open access

319

citations
Towards fully probabilistic control design
1996 Automatica article Engineering Advanced Control Systems Optimization

200

citations
Planning by Probabilistic Inference.
2003 conference-paper Computer Science AI-based Problem Solving and Planning

182

citations
Deep active inference as variational policy gradients
2020 Journal of Mathematical Psychology article Computer Science Reinforcement Learning in Robotics Open access

118

citations
Deep active inference
2018 Biological Cybernetics article Neuroscience Embodied and Extended Cognition Open access

96

citations
Hierarchical POMDP Controller Optimization by Likelihood Maximization
2012 arXiv (Cornell University) preprint Computer Science AI-based Problem Solving and Planning Open access

75

citations
What does the free energy principle tell us about the brain?
2019 Neurons Behavior Data analysis and Theory article Neuroscience Embodied and Extended Cognition Open access

64

citations
Expanding the Active Inference Landscape: More Intrinsic Motivations in the Perception-Action Loop
2018 Frontiers in Neurorobotics article Neuroscience Embodied and Extended Cognition Open access

33

citations