The Active Inference Approach to Ecological Perception: General Information Dynamics for Natural and Artificial Embodied Cognition

Active Inference for Learning and Development in Embodied Neuromorphic Agents

Taking inspiration from humans can help catalyse embodied AI solutions for important real-world applications. Current human-inspired tools include neuromorphic systems and the developmental approach to learning. However, this developmental neurorobotics approach is currently lacking important frameworks for human-like computation and learning. We propose that human-like computation is inherently embodied, with its interface to the world being neuromorphic, and its learning processes operating across different timescales. These constraints necessitate a unified framework: active inference, underpinned by the free energy principle (FEP). Herein, we describe theoretical and empirical support for leveraging this framework in embodied neuromorphic agents with autonomous mental development. We additionally outline current implementation approaches (including toolboxes) and challenges, and we provide suggestions for next steps to catalyse this important field.

Active sensing with predictive coding and uncertainty minimization

We present an end-to-end architecture for embodied exploration inspired by two biological computations: predictive coding and uncertainty minimization. The architecture can be applied to any exploration setting in a task-independent and intrinsically driven manner. We first demonstrate our approach in a maze navigation task and show that it can discover the underlying transition distributions and spatial features of the environment. Second, we apply our model to a more complex active vision task, whereby an agent actively samples its visual environment to gather information. We show that our model builds unsupervised representations through exploration that allow it to efficiently categorize visual scenes. We further show that using these representations for downstream classification leads to superior data efficiency and learning speed compared to other baselines while maintaining lower parameter complexity. Finally, the modular structure of our model facilitates interpretability, allowing us to probe its internal mechanisms and representations during exploration.

Cortical processes of multisensory plausibility modulation of vibrotactile perception in virtual environments in middled-aged and older adults

Digital technologies, such as virtual or augmented reality, can potentially support neurocognitive functions of the aging populations worldwide and complement existing intervention methods. However, aging-related declines in the frontal-parietal network and dopaminergic modulation which progress gradually across the later periods of the adult lifespan may affect the processing of multisensory congruence and expectancy based contextual plausibility. We assessed hemodynamic brain responses while middle-aged and old adults experienced car-riding virtual-reality scenarios where the plausibility of vibrotactile stimulations was manipulated by delivering stimulus intensities that were either congruent or incongruent with the digitalized audio-visual contexts of the respective scenarios. Relative to previous findings observed in young adults, although highly plausible vibrotactile stimulations confirming with contextual expectations also elicited higher brain hemodynamic responses in middle-aged and old adults, this effect was limited to virtual scenarios with extreme expectancy violations. Moreover, individual differences in plausibility-related frontal activity did not correlate with plausibility violation costs in the sensorimotor cortex, indicating less systematic frontal context-based sensory filtering in older ages. These findings have practical implications for advancing digital technologies to support aging societies.

Body as First Teacher: The Role of Rhythmic Visceral Dynamics in Early Cognitive Development

Embodied cognition-the idea that mental states and processes should be understood in relation to one's bodily constitution and interactions with the world-remains a controversial topic within cognitive science. Recently, however, increasing interest in predictive processing theories among proponents and critics of embodiment alike has raised hopes of a reconciliation. This article sets out to appraise the unificatory potential of predictive processing, focusing in particular on embodied formulations of active inference. Our analysis suggests that most active-inference accounts invoke weak, potentially trivial conceptions of embodiment; those making stronger claims do so independently of the theoretical commitments of the active-inference framework. We argue that a more compelling version of embodied active inference can be motivated by adopting a diachronic perspective on the way rhythmic physiological activity shapes neural development in utero. According to this visceral afferent training hypothesis, early-emerging physiological processes are essential not only for supporting the biophysical development of neural structures but also for configuring the cognitive architecture those structures entail. Focusing in particular on the cardiovascular system, we propose three candidate mechanisms through which visceral afferent training might operate: (a) activity-dependent neuronal development, (b) periodic signal modeling, and (c) oscillatory network coordination.

Functional bioengineered models of the central nervous system

The functional complexity of the central nervous system (CNS) is unparalleled in living organisms. Its nested cells, circuits and networks encode memories, move bodies and generate experiences. Neural tissues can be engineered to assemble model systems that recapitulate essential features of the CNS and to investigate neurodevelopment, delineate pathophysiology, improve regeneration and accelerate drug discovery. In this Review, we discuss essential structure-function relationships of the CNS and examine materials and design considerations, including composition, scale, complexity and maturation, of cell biology-based and engineering-based CNS models. We highlight region-specific CNS models that can emulate functions of the cerebral cortex, hippocampus, spinal cord, neural-X interfaces and other regions, and investigate a range of applications for CNS models, including fundamental and clinical research. We conclude with an outlook to future possibilities of CNS models, highlighting the engineering challenges that remain to be overcome.

The 3Ps: A tool for coach observation

There is growing recognition of the value of "in situ" coach development practice across a variety sporting contexts. Unfortunately, however, there remains a limited number of tools available with which to observe coaching practice. In this study, we pilot and test a quasi-systematic tool for observation in the form of the 3Ps. Drawing on a range of representational perspectives, the theoretically neutral labels of "procedure", "planning", and "process" were developed for the purpose of holistic observation. In order to test the tool, a group of experienced coach development practitioners (n = 10) integrated the tool into their practice over a 12-month programme of professional development. Those participants subsequently took part in semi-structured interviews, in which they expressed a strong sense of acceptability, perceiving effectiveness and positive opportunity cost. We propose that the 3Ps tool presents a holistic and practically useful means of observing coaches' professional judgment and decision making. We also suggest future directions for the researcher who seeks to generate evidence in a naturalistic coaching context.

The Active Inference Model of Coherence Therapy

Coherence Therapy is an empirically derived experiential psychotherapy based on Psychological Constructivism. Symptoms are viewed as necessary output from an implicit model of the world. The therapist curates experiences and directs attention toward discovering the model. Rendered explicit, the model is juxtaposed with contradictory knowledge driving memory re-consolidation with resolution of the symptom. The Bayesian Brain views perception and action as inferential processes. Prior beliefs are combined in a generative model to explain the hidden causes of sensations through a process of Active Inference. Prior beliefs that are poor fits to the real world are suboptimal. Suboptimal priors with optimal inference produce Bayes Optimal Pathology with behavioral symptoms. The Active Inference Model of Coherence Therapy posits that Coherence Therapy is a dyadic act of therapist guided Active Inference that renders the (probable) hidden causes of a client's behavior conscious. The therapist's sustained attention on the goal of inference helps to overcome memory control bias against retrieval of the affectively charged suboptimal prior. Serial experiences cue memory retrieval and re-instantiation of the physiological/affective state that necessitates production of the symptom in a particular context. As this process continues there is a break in modularity with assimilation into broader networks of experience. Typically, the symptom produced by optimal inference with the suboptimal prior is experienced as unnecessary/inappropriate when taken out of the particular context. The implicit construct has been re-represented and rendered consciously accessible, by a more complex but more accurate model in which the symptom is necessary in some contexts but not others. There is an experience of agency and control in symptom creation, accompanied by the spontaneous production of context appropriate behavior. The capacity for inference has been restored. The Active Inference Model of Coherence Therapy provides a framework for Coherence Therapy as a computational process which can serve as the basis for new therapeutic interventions and experimental designs integrating biological, cognitive, behavioral, and environmental factors.

Contemporary pedagogy? The use of theory in practice: An evidence-informed perspective

Utilizing cognitive psychology as a foundation, this paper offers a deeper consideration of contemporary theoretical influences on coaching pedagogy. Countering recent dichotomies suggested between pedagogic approaches, we reintroduce key findings from the cognitive tradition and their implications for practice which coaches may find useful. Using cognitive load, novice and expert differences, desirable difficulty, and fidelity, we suggest that the lines drawn between different "pedagogies" may not be as sharp as suggested. Instead, we suggest that coaches avoid defining themselves as being aligned to a specific pedagogical or paradigmatic stance. We conclude by advocating for research informed practice, absent of strict theoretical boundaries and instead, considering contemporary pedagogy as drawing on the needs of the context, the experience of the coach and the best available evidence.

Congruence-based contextual plausibility modulates cortical activity during vibrotactile perception in virtual multisensory environments

How congruence cues and congruence-based expectations may together shape perception in virtual reality (VR) still need to be unravelled. We linked the concept of plausibility used in VR research with congruence-based modulation by assessing brain responses while participants experienced vehicle riding experiences in VR scenarios. Perceptual plausibility was manipulated by sensory congruence, with multisensory stimulations confirming with common expectations of road scenes being plausible. We hypothesized that plausible scenarios would elicit greater cortical responses. The results showed that: (i) vibrotactile stimulations at expected intensities, given embedded audio-visual information, engaged greater cortical activities in frontal and sensorimotor regions; (ii) weaker plausible stimulations resulted in greater responses in the sensorimotor cortex than stronger but implausible stimulations; (iii) frontal activities under plausible scenarios negatively correlated with plausibility violation costs in the sensorimotor cortex. These results potentially indicate frontal regulation of sensory processing and extend previous evidence of contextual modulation to the tactile sense.

Connecting the free energy principle with quantum cognition

It appears that the free energy minimization principle conflicts with quantum cognition since the former adheres to a restricted view based on experience while the latter allows deviations from such a restricted view. While free energy minimization, which incorporates Bayesian inference, leads to a Boolean lattice of propositions (classical logic), quantum cognition, which seems to be very dissimilar to Bayesian inference, leads to an orthomodular lattice of propositions (quantum logic). Thus, we address this challenging issue to bridge and connect the free energy minimization principle with the theory of quantum cognition. In this work, we introduce “excess Bayesian inference” and show that this excess Bayesian inference entails an underlying orthomodular lattice, while classic Bayesian inference entails a Boolean lattice. Excess Bayesian inference is implemented by extending the key idea of Bayesian inference beyond classic Bayesian inference and its variations. It is constructed by enhancing the idea of active inference and/or embodied intelligence. The appropriate lattice structure of its logic is obtained from a binary relation transformed from a distribution of the joint probabilities of data and hypotheses by employing a rough-set lattice technique in accordance with quantum cognition logic.

Extended active inference: Constructing predictive cognition beyond skulls

Cognitive niche construction is the process whereby organisms create and maintain cause-effect models of their niche as guides for fitness influencing behavior. Extended mind theory claims that cognitive processes extend beyond the brain to include predictable states of the world. Active inference and predictive processing in cognitive science assume that organisms embody predictive (i.e., generative) models of the world optimized by standard cognitive functions (e.g., perception, action, learning). This paper presents an active inference formulation that views cognitive niche construction as a cognitive function aimed at optimizing organisms' generative models. We call that process of optimization extended active inference.

Cognition Without Neural Representation: Dynamics of a Complex System

This paper proposes an account of neurocognitive activity without leveraging the notion of neural representation. Neural representation is a concept that results from assuming that the properties of the models used in computational cognitive neuroscience (e.g., information, representation, etc.) must literally exist the system being modelled (e.g., the brain). Computational models are important tools to test a theory about how the collected data (e.g., behavioural or neuroimaging) has been generated. While the usefulness of computational models is unquestionable, it does not follow that neurocognitive activity should literally entail the properties construed in the model (e.g., information, representation). While this is an assumption present in computationalist accounts, it is not held across the board in neuroscience. In the last section, the paper offers a dynamical account of neurocognitive activity with Dynamical Causal Modelling (DCM) that combines dynamical systems theory (DST) mathematical formalisms with the theoretical contextualisation provided by Embodied and Enactive Cognitive Science (EECS).

Do manual therapies have a specific autonomic effect? An overview of systematic reviews

Background

The impact of manual therapy interventions on the autonomic nervous system have been largely assessed, but with heterogeneous findings regarding the direction of these effects. We conducted an overview of systematic reviews to describe if there is a specific autonomic effect elicited by manual therapy interventions, its relation with the type of technique used and the body region where the intervention was applied.

Methods

We conducted an overview according to a publicly registered protocol. We searched the Cochrane Database of Systematic Reviews, MEDLINE, EPISTEMONIKOS and SCOPUS, from their inception to march 2021. We included systematic reviews for which the primary aim of the intervention was to assess the autonomic effect elicited by a manual therapy intervention in either healthy or symptomatic individuals. Two authors independently applied the selection criteria, assessed risk of bias from the included reviews and extracted data. An established model of generalisation guided the data analysis and interpretation.

Results

We included 12 reviews (5 rated as low risk of bias according the ROBIS tool). The findings showed that manual therapies may have an effect on both sympathetic and parasympathetic systems. However, the results from included reviews were inconsistent due to differences in their methodological rigour and how the effects were measured. The reviews with a lower risk of bias could not discriminate the effects depending on the body region to which the technique was applied.

Conclusion

The magnitude of the specific autonomic effect elicited by manual therapies and its clinical relevance is uncertain. We point out some specific recommendations in order to improve the quality and relevance of future research in this field.

Sharing the load: How a personally coloured calculator for grapheme-colour synaesthetes can reduce processing costs

Synaesthesia refers to a diverse group of perceptions. These unusual perceptions are defined by the experience of concurrents; these are conscious experiences that are catalysed by attention to some normally unrelated stimulus, the inducer. In grapheme-colour synaesthesia numbers, letters, and words can all cause colour concurrents, and these are independent of the actual colour with which the graphemes are displayed. For example, when seeing the numeral '3' a person with synaesthesia might experience green as the concurrent irrespective of whether the numeral is printed in blue, black, or red. As a trait, synaesthesia has the potential to cause both positive and negative effects. However, regardless of the end effect, synaesthesia incurs an initial cost when compared with its equivalent example from normal perception; this is the additional processing cost needed to generate the information on the concurrent. We contend that this cost can be reduced by mirroring the concurrent in the environment. We designed the Digital-Colour Calculator (DCC) app, allowing each user to personalise and select the colours with which it displays its digits; it is the first reported example of a device/approach that leverages the concurrent. In this article we report on the reactions to the DCC for a sample of fifty-three synaesthetes and thirty-five non-synaesthetes. The synaesthetes showed a strong preference for the DCC over its normal counterpart. The non-synaesthetes showed no obvious preference. When using the DCC a subsample of the synaesthete group showed consistent improvement in task speed (around 8%) whereas no synaesthete showed a decrement in their speed.

Future-Proofing Startups: Stress Management Principles Based on Adaptive Calibration Model and Active Inference Theory

In this paper, the Adaptive Calibration Model (ACM) and Active Inference Theory (AIT) are related to future-proofing startups. ACM encompasses the allocation of energy by the stress response system to alternative options for action, depending upon individuals’ life histories and changing external contexts. More broadly, within AIT, it is posited that humans survive by taking action to align their internal generative models with sensory inputs from external states. The first contribution of the paper is to address the need for future-proofing methods for startups by providing eight stress management principles based on ACM and AIT. Future-proofing methods are needed because, typically, nine out of ten startups do not survive. A second contribution is to relate ACM and AIT to startup life cycle stages. The third contribution is to provide practical examples that show the broader relevance ACM and AIT to organizational practice. These contributions go beyond previous literature concerned with entrepreneurial stress and organizational stress. In particular, rather than focusing on particular stressors, this paper is focused on the recalibrating/updating of startups’ stress responsivity patterns in relation to changes in the internal state of the startup and/or changes in the external state. Overall, the paper makes a contribution to relating physics of life constructs concerned with energy, action and ecological fitness to human organizations.

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

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.

Science-Driven Societal Transformation, Part III: Design

Climate change, biodiversity loss, and other major social and environmental problems pose severe risks. Progress has been inadequate and scientists, global policy experts, and the general public increasingly conclude that transformational change is needed across all sectors of society in order to improve and maintain social and ecological wellbeing. At least two paths to transformation are conceivable: (1) reform of and innovation within existing societal systems (e.g., economic, legal, and governance systems); and (2) the de novo development of and migration to new and improved societal systems. This paper is the final in a three-part series of concept papers that together outline a novel science-driven research and development program aimed at the second path. It summarizes literature to build a narrative on the topic of de novo design of societal systems. The purpose is to raise issues, suggest design possibilities, and highlight directions and questions that could be explored in the context of this or any R&D program aimed at new system design. This paper does not present original research, but rather provides a synthesis of selected ideas from the literature. Following other papers in the series, a society is viewed as a superorganism and its societal systems as a cognitive architecture. Accordingly, a central goal of design is to improve the collective cognitive capacity of a society, rendering it more capable of achieving and sustainably maintaining vitality. Topics of attention, communication, self-identity, power, and influence are discussed in relation to societal cognition and system design. A prototypical societal system is described, and some design considerations are highlighted.

A Hybrid Human-Neurorobotics Approach to Primary Intersubjectivity via Active Inference

Interdisciplinary efforts from developmental psychology, phenomenology, and philosophy of mind, have studied the rudiments of social cognition and conceptualized distinct forms of intersubjective communication and interaction at human early life. Interaction theorists consider primary intersubjectivity a non-mentalist, pre-theoretical, non-conceptual sort of processes that ground a certain level of communication and understanding, and provide support to higher-level cognitive skills. We argue the study of human/neurorobot interaction consists in a unique opportunity to deepen understanding of underlying mechanisms in social cognition through synthetic modeling, while allowing to examine a second person experiential (2PP) access to intersubjectivity in embodied dyadic interaction. Concretely, we propose the study of primary intersubjectivity as a 2PP experience characterized by predictive engagement, where perception, cognition, and action are accounted for an hermeneutic circle in dyadic interaction. From our interpretation of the concept of active inference in free-energy principle theory, we propose an open-source methodology named neural robotics library (NRL) for experimental human/neurorobot interaction, wherein a demonstration program named virtual Cartesian robot (VCBot) provides an opportunity to experience the aforementioned embodied interaction to general audiences. Lastly, through a study case, we discuss some ways human-robot primary intersubjectivity can contribute to cognitive science research, such as to the fields of developmental psychology, educational technology, and cognitive rehabilitation.

Wilding the predictive brain

The Predictive Processing (PP) framework casts the brain as a probabilistic prediction engine that continually generates predictions of the causal structure of the world in order to construct for itself, from the top down, incoming sensory signals. Conceiving of the brain in this way has yielded incredible explanatory power, offering what many believe to be our first glimpse at a unified theory of the mind. In this paper, the picture of the mind brought into view by predictive processing theories is shown to be embodied, deeply affective and nicely poised for cognitive extension. We begin by giving an overview of the main themes of the framework, and situating this approach within embodied cognitive science. We show perception, action, homeostatic regulation and emotion to be underpinned by the very same predictive machinery. We conclude by showing how predictive minds will increasingly be understood as deeply interwoven with, and perhaps extended into, the surrounding social, cultural and technological landscape. This article is categorized under: Philosophy > Foundations of Cognitive Science Psychology > Emotion and Motivation Philosophy > Action.

A Bayesian Account of Generalist and Specialist Formation Under the Active Inference Framework

This paper offers a formal account of policy learning, or habitual behavioral optimization, under the framework of Active Inference. In this setting, habit formation becomes an autodidactic, experience-dependent process, based upon what the agent sees itself doing. We focus on the effect of environmental volatility on habit formation by simulating artificial agents operating in a partially observable Markov decision process. Specifically, we used a "two-step" maze paradigm, in which the agent has to decide whether to go left or right to secure a reward. We observe that in volatile environments with numerous reward locations, the agents learn to adopt a generalist strategy, never forming a strong habitual behavior for any preferred maze direction. Conversely, in conservative or static environments, agents adopt a specialist strategy; forming strong preferences for policies that result in approach to a small number of previously-observed reward locations. The pros and cons of the two strategies are tested and discussed. In general, specialization offers greater benefits, but only when contingencies are conserved over time. We consider the implications of this formal (Active Inference) account of policy learning for understanding the relationship between specialization and habit formation.

Science-Driven Societal Transformation, Part I: Worldview

Humanity faces serious social and environmental problems, including climate change and biodiversity loss. Increasingly, scientists, global policy experts, and the general public conclude that incremental approaches to reduce risk are insufficient and transformative change is needed across all sectors of society. However, the meaning of transformation is still unsettled in the literature, as is the proper role of science in fostering it. This paper is the first in a three-part series that adds to the discussion by proposing a novel science-driven research-and-development program aimed at societal transformation. More than a proposal, it offers a perspective and conceptual framework from which societal transformation might be approached. As part of this, it advances a formal mechanics with which to model and understand self-organizing societies of individuals. While acknowledging the necessity of reform to existing societal systems (e.g., governance, economic, and financial systems), the focus of the series is on transformation understood as systems change or systems migration—the de novo development of and migration to new societal systems. The series provides definitions, aims, reasoning, worldview, and a theory of change, and discusses fitness metrics and design principles for new systems. This first paper proposes a worldview, built using ideas from evolutionary biology, complex systems science, cognitive sciences, and information theory, which is intended to serve as the foundation for the R&D program. Subsequent papers in the series build on the worldview to address fitness metrics, system design, and other topics.

An Integrated World Modeling Theory (IWMT) of Consciousness: Combining Integrated Information and Global Neuronal Workspace Theories With the Free Energy Principle and Active Inference Framework; Toward Solving the Hard Problem and Characterizing Agentic Causation

The Free Energy Principle and Active Inference Framework (FEP-AI) begins with the understanding that persisting systems must regulate environmental exchanges and prevent entropic accumulation. In FEP-AI, minds and brains are predictive controllers for autonomous systems, where action-driven perception is realized as probabilistic inference. Integrated Information Theory (IIT) begins with considering the preconditions for a system to intrinsically exist, as well as axioms regarding the nature of consciousness. IIT has produced controversy because of its surprising entailments: quasi-panpsychism; subjectivity without referents or dynamics; and the possibility of fully-intelligent-yet-unconscious brain simulations. Here, I describe how these controversies might be resolved by integrating IIT with FEP-AI, where integrated information only entails consciousness for systems with perspectival reference frames capable of generating models with spatial, temporal, and causal coherence for self and world. Without that connection with external reality, systems could have arbitrarily high amounts of integrated information, but nonetheless would not entail subjective experience. I further describe how an integration of these frameworks may contribute to their evolution as unified systems theories and models of emergent causation. Then, inspired by both Global Neuronal Workspace Theory (GNWT) and the Harmonic Brain Modes framework, I describe how streams of consciousness may emerge as an evolving generation of sensorimotor predictions, with the precise composition of experiences depending on the integration abilities of synchronous complexes as self-organizing harmonic modes (SOHMs). These integrating dynamics may be particularly likely to occur via richly connected subnetworks affording body-centric sources of phenomenal binding and executive control. Along these connectivity backbones, SOHMs are proposed to implement turbo coding via loopy message-passing over predictive (autoencoding) networks, thus generating maximum a posteriori estimates as coherent vectors governing neural evolution, with alpha frequencies generating basic awareness, and cross-frequency phase-coupling within theta frequencies for access consciousness and volitional control. These dynamic cores of integrated information also function as global workspaces, centered on posterior cortices, but capable of being entrained with frontal cortices and interoceptive hierarchies, thus affording agentic causation. Integrated World Modeling Theory (IWMT) represents a synthetic approach to understanding minds that reveals compatibility between leading theories of consciousness, thus enabling inferential synergy.

Learning action-oriented models through active inference

Converging theories suggest that organisms learn and exploit probabilistic models of their environment. However, it remains unclear how such models can be learned in practice. The open-ended complexity of natural environments means that it is generally infeasible for organisms to model their environment comprehensively. Alternatively, action-oriented models attempt to encode a parsimonious representation of adaptive agent-environment interactions. One approach to learning action-oriented models is to learn online in the presence of goal-directed behaviours. This constrains an agent to behaviourally relevant trajectories, reducing the diversity of the data a model need account for. Unfortunately, this approach can cause models to prematurely converge to sub-optimal solutions, through a process we refer to as a bad-bootstrap. Here, we exploit the normative framework of active inference to show that efficient action-oriented models can be learned by balancing goal-oriented and epistemic (information-seeking) behaviours in a principled manner. We illustrate our approach using a simple agent-based model of bacterial chemotaxis. We first demonstrate that learning via goal-directed behaviour indeed constrains models to behaviorally relevant aspects of the environment, but that this approach is prone to sub-optimal convergence. We then demonstrate that epistemic behaviours facilitate the construction of accurate and comprehensive models, but that these models are not tailored to any specific behavioural niche and are therefore less efficient in their use of data. Finally, we show that active inference agents learn models that are parsimonious, tailored to action, and which avoid bad bootstraps and sub-optimal convergence. Critically, our results indicate that models learned through active inference can support adaptive behaviour in spite of, and indeed because of, their departure from veridical representations of the environment. Our approach provides a principled method for learning adaptive models from limited interactions with an environment, highlighting a route to sample efficient learning algorithms.

Active inference, stressors, and psychological trauma: A neuroethological model of (mal)adaptive explore-exploit dynamics in ecological context

This paper offers a formal account of emotional inference and stress-related behaviour, using the notion of active inference. We formulate responses to stressful scenarios in terms of Bayesian belief-updating and subsequent policy selection; namely, planning as (active) inference. Using a minimal model of how creatures or subjects account for their sensations (and subsequent action), we deconstruct the sequences of belief updating and behaviour that underwrite stress-related responses - and simulate the aberrant responses of the sort seen in post-traumatic stress disorder (PTSD). Crucially, the model used for belief-updating generates predictions in multiple (exteroceptive, proprioceptive and interoceptive) modalities, to provide an integrated account of evidence accumulation and multimodal integration that has consequences for both motor and autonomic responses. The ensuing phenomenology speaks to many constructs in the ecological and clinical literature on stress, which we unpack with reference to simulated inference processes and accompanying neuronal responses. A key insight afforded by this formal approach rests on the trade-off between the epistemic affordance of certain cues (that resolve uncertainty about states of affairs in the environment) and the consequences of epistemic foraging (that may be in conflict with the instrumental or pragmatic value of 'fleeing' or 'freezing'). Starting from first principles, we show how this trade-off is nuanced by prior (subpersonal) beliefs about the outcomes of behaviour - beliefs that, when held with unduly high precision, can lead to (Bayes optimal) responses that closely resemble PTSD.

Embodying addiction: A predictive processing account

In this paper we show how addiction can be thought of as the outcome of learning. We look to the increasingly influential predictive processing theory for an account of how learning can go wrong in addiction. Perhaps counter intuitively, it is a consequence of this predictive processing perspective on addiction that while the brain plays a deep and important role in leading a person into addiction, it cannot be the whole story. We'll argue that predictive processing implies a view of addiction not as a brain disease, but rather as a breakdown in the dynamics of the wider agent-environment system. The environment becomes meaningfully organised around the agent's drug-seeking and using behaviours. Our account of addiction offers a new perspective on what is harmful about addiction. Philosophers often characterise addiction as a mental illness because addicts irrationally shift in their judgement of how they should act based on cues that predict drug use. We argue that predictive processing leads to a different view of what can go wrong in addiction. We suggest that addiction can prove harmful to the person because as their addiction progressively takes hold, the addict comes to embody a predictive model of the environment that fails to adequately attune them to a volatile, dynamic environment. The use of an addictive substance produces illusory feedback of being well-attuned to the environment when the reality is the opposite. This can be comforting for a person inhabiting a hostile niche, but it can also prove to be harmful to the person as they become skilled at living the life of an addict, to the neglect of all other alternatives. The harm in addiction we'll argue is not to be found in the brains of addicts, but in their way of life.

Variational ecology and the physics of sentient systems

This paper addresses the challenges faced by multiscale formulations of the variational (free energy) approach to dynamics that obtain for large-scale ensembles. We review a framework for modelling complex adaptive control systems for multiscale free energy bounding organism-niche dynamics, thereby integrating the modelling strategies and heuristics of variational neuroethology with a broader perspective on the ecological nestedness of biotic systems. We extend the multiscale variational formulation beyond the action-perception loops of individual organisms by appealing to the variational approach to niche construction to explain the dynamics of coupled systems constituted by organisms and their ecological niche. We suggest that the statistical robustness of living systems is inherited, in part, from their eco-niches, as niches help coordinate dynamical patterns across larger spatiotemporal scales. We call this approach variational ecology. We argue that, when applied to cultural animals such as humans, variational ecology enables us to formulate not just a physics of individual minds, but also a physics of interacting minds across spatial and temporal scales - a physics of sentient systems that range from cells to societies.

Reframing PTSD for computational psychiatry with the active inference framework

Introduction: Recent advances in research on stress and, respectively, on disorders of perception, learning, and behaviour speak to a promising synthesis of current insights from (i) neurobiology, cognitive neuroscience and psychology of stress and post-traumatic stress disorder (PTSD), and (ii) computational psychiatry approaches to pathophysiology (e.g. of schizophrenia and autism). Methods: Specifically, we apply this synthesis to PTSD. The framework of active inference offers an embodied and embedded lens through which to understand neuronal mechanisms, structures, and processes of cognitive function and dysfunction. In turn, this offers an explanatory model of how healthy mental functioning can go awry due to psychopathological conditions that impair inference about our environment and our bodies. In this context, auditory phenomena-known to be especially relevant to studies of PTSD and schizophrenia-and traditional models of auditory function can be viewed from an evolutionary perspective based on active inference. Results: We assess and contextualise a range of evidence on audition, stress, psychosis, and PTSD, and bring some existing partial models of PTSD into multilevel alignment. Conclusions: The novel perspective on PTSD we present aims to serve as a basis for new experimental designs and therapeutic interventions that integrate fundamentally biological, cognitive, behavioural, and environmental factors.

Expanding the Active Inference Landscape: More Intrinsic Motivations in the Perception-Action Loop

Active inference is an ambitious theory that treats perception, inference, and action selection of autonomous agents under the heading of a single principle. It suggests biologically plausible explanations for many cognitive phenomena, including consciousness. In active inference, action selection is driven by an objective function that evaluates possible future actions with respect to current, inferred beliefs about the world. Active inference at its core is independent from extrinsic rewards, resulting in a high level of robustness across e.g., different environments or agent morphologies. In the literature, paradigms that share this independence have been summarized under the notion of intrinsic motivations. In general and in contrast to active inference, these models of motivation come without a commitment to particular inference and action selection mechanisms. In this article, we study if the inference and action selection machinery of active inference can also be used by alternatives to the originally included intrinsic motivation. The perception-action loop explicitly relates inference and action selection to the environment and agent memory, and is consequently used as foundation for our analysis. We reconstruct the active inference approach, locate the original formulation within, and show how alternative intrinsic motivations can be used while keeping many of the original features intact. Furthermore, we illustrate the connection to universal reinforcement learning by means of our formalism. Active inference research may profit from comparisons of the dynamics induced by alternative intrinsic motivations. Research on intrinsic motivations may profit from an additional way to implement intrinsically motivated agents that also share the biological plausibility of active inference.