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{
    "pk": 27596,
    "title": "Anticipatory Active Inference from Learned Recurrent Neural Forward Models",
    "subtitle": null,
    "abstract": "We demonstrate that inference-based goal-directed behavior can be done by utilizing the temporal gradients in re-current neural network (RNN). The RNN learns a dynamic sensorimotor forward model. Once the RNN is trained, it can beused to execute active-inference-based, goal-directed policy optimization. The internal neural activities of the trained RNNessentially model the predictive state of the controlled entity. The implemented optimization process projects the neural activ-ities into the future via the RNN recurrences following a tentative sequence of motor commands (encoded in neurons akin torecurrent parametric biases). This sequence is adapted by back-projecting the error between the forward-projected hypotheticalstates and desired (goal-like) system states onto the motor commands. Few cycles of forward projection and goal-based errorbackpropagation yield the sequences of motor commands that control the dynamical systems. As an example, we show that atrained RNN model can be used to effectively control a quadrocopter-like system.",
    "language": "eng",
    "license": {
        "name": "",
        "short_name": "",
        "text": null,
        "url": ""
    },
    "keywords": [],
    "section": "Posters: Member Abstracts",
    "is_remote": true,
    "remote_url": "https://escholarship.org/uc/item/0mz9w75s",
    "frozenauthors": [
        {
            "first_name": "Sebastian",
            "middle_name": "",
            "last_name": "Otte",
            "name_suffix": "",
            "institution": "University of T ̈ubingen",
            "department": ""
        },
        {
            "first_name": "Theresa",
            "middle_name": "",
            "last_name": "Schmitt",
            "name_suffix": "",
            "institution": "University of T ̈ubingen",
            "department": ""
        },
        {
            "first_name": "Martin",
            "middle_name": "V.",
            "last_name": "Butz",
            "name_suffix": "",
            "institution": "University of T ̈ubingen",
            "department": ""
        }
    ],
    "date_submitted": null,
    "date_accepted": null,
    "date_published": "2017-01-01T18:00:00Z",
    "render_galley": null,
    "galleys": [
        {
            "label": "PDF",
            "type": "pdf",
            "path": "https://journalpub.escholarship.org/cognitivesciencesociety/article/27596/galley/17232/download/"
        }
    ]
}