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This repository focused on enhancing the Active Inference Controller (AIC) for robotic manipulation tasks on an Interbotix PincherX 150 5-DOF Robot. A modified control framework called the Reactive Active Inference Controller (ReAIC) outperfors the AIC in adaptation experiments.
Sophisticated Learning Implementations: MATLAB and Python code for the "Sophisticated Learning" algorithm from Hodson et al.'s research on model-based planning.
Homing Piegon is an inference framework implementing Variational Message Passing. It can be used to implement an Active Inference agent that performs planning using a Tree Search algorithm that can been seen as a form of Bayesian Model Expansion.
Multi-Agent Robot Learning algorithm using Deep Active Inference (DAI) for road hazard anomaly detection and Soft Actor Critic decomposed for multi-agent settings (mSAC)
This repository contains all the code relevant to my PhD research (2019-2023) at University of Amsterdam, funded by a Research Talent Grant from Netherlands Organisation for Scientific Research (NWO). Pursuant to the Open Access requirements of the NWO, all code here is published on the basis of an MIT licence or equivalent.