{"id":"https://openalex.org/W4312290834","doi":"https://doi.org/10.1109/iros47612.2022.9981095","title":"Unbiased Active Inference for Classical Control","display_name":"Unbiased Active Inference for Classical Control","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312290834","doi":"https://doi.org/10.1109/iros47612.2022.9981095"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981095","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.tudelft.nl/file/File_c90d5c58-d45e-45c9-8a04-9d7bfef05eca","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008739723","display_name":"Mohamed Baioumy","orcid":"https://orcid.org/0000-0002-7198-5818"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohamed Baioumy","raw_affiliation_strings":["Oxford Robotics Institute, Oxford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford University","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040457648","display_name":"Corrado Pezzato","orcid":"https://orcid.org/0000-0002-1835-9578"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Corrado Pezzato","raw_affiliation_strings":["TU Delft,Cognitive Robotics Department","Cognitive Robotics Department, TU Delft"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft,Cognitive Robotics Department","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Cognitive Robotics Department, TU Delft","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063861053","display_name":"Riccardo Ferrari","orcid":"https://orcid.org/0000-0003-3615-5445"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Riccardo Ferrari","raw_affiliation_strings":["TU Delft,Department of Systems and Control","Department of Systems and Control, TU Delft"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft,Department of Systems and Control","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Systems and Control, TU Delft","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059686746","display_name":"Nick Hawes","orcid":"https://orcid.org/0000-0002-7556-6098"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nick Hawes","raw_affiliation_strings":["Oxford Robotics Institute, Oxford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford University","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5982,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.60732984,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12787","last_page":"12794"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11883","display_name":"Embodied and Extended Cognition","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9793000221252441,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.836870014667511},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6410248279571533},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5978513956069946},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5625362992286682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5567337870597839},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.5071926116943359},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4937220513820648},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46977823972702026},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.4310300350189209},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41418391466140747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36221209168434143},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12832564115524292}],"concepts":[{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.836870014667511},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6410248279571533},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5978513956069946},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5625362992286682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5567337870597839},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5071926116943359},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4937220513820648},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46977823972702026},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.4310300350189209},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41418391466140747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36221209168434143},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12832564115524292},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981095","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:91e7cd2a-621a-4396-98eb-0afd2134f5b3","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:91e7cd2a-621a-4396-98eb-0afd2134f5b3","pdf_url":"https://repository.tudelft.nl/file/File_c90d5c58-d45e-45c9-8a04-9d7bfef05eca","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:tudelft.nl:uuid:91e7cd2a-621a-4396-98eb-0afd2134f5b3","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:91e7cd2a-621a-4396-98eb-0afd2134f5b3","pdf_url":"https://repository.tudelft.nl/file/File_c90d5c58-d45e-45c9-8a04-9d7bfef05eca","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312290834.pdf","grobid_xml":"https://content.openalex.org/works/W4312290834.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W2040891197","https://openalex.org/W2042012466","https://openalex.org/W2113257799","https://openalex.org/W2148764920","https://openalex.org/W2552810632","https://openalex.org/W2617660370","https://openalex.org/W2771302179","https://openalex.org/W2793221085","https://openalex.org/W2801487100","https://openalex.org/W2919878953","https://openalex.org/W2962989195","https://openalex.org/W2976738340","https://openalex.org/W3007127011","https://openalex.org/W3008513355","https://openalex.org/W3037390745","https://openalex.org/W3045763022","https://openalex.org/W3048438965","https://openalex.org/W3084523811","https://openalex.org/W3105455841","https://openalex.org/W3112522693","https://openalex.org/W3120701370","https://openalex.org/W3132290407","https://openalex.org/W3139813835","https://openalex.org/W3181795511","https://openalex.org/W3199477924","https://openalex.org/W3201399965","https://openalex.org/W3206390677","https://openalex.org/W4200634454","https://openalex.org/W4206297508","https://openalex.org/W4249210107","https://openalex.org/W4287778684","https://openalex.org/W6774996162","https://openalex.org/W6777421941","https://openalex.org/W6805513666"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W2055243143","https://openalex.org/W4244439390","https://openalex.org/W2380659006","https://openalex.org/W4251432983","https://openalex.org/W2096206748","https://openalex.org/W2076767946"],"abstract_inverted_index":{"Active":[0],"inference":[1,29,93],"is":[2],"a":[3,17,52,63,113,119],"mathematical":[4],"framework":[5],"that":[6],"originated":[7],"in":[8,24],"computational":[9],"neuroscience.":[10],"Recently,":[11],"it":[12],"has":[13,32],"been":[14,33],"demonstrated":[15],"as":[16],"promising":[18],"approach":[19],"for":[20,57],"constructing":[21],"goal-driven":[22],"behavior":[23],"robotics.":[25],"Specifically,":[26],"the":[27,67,90,100,104,124,128,133],"active":[28,92],"controller":[30,94],"(AIC)":[31],"successful":[34],"on":[35,112,118],"several":[36],"continuous":[37],"control":[38,75],"and":[39,69,84,106,116],"state-estimation":[40],"tasks.":[41],"Despite":[42],"its":[43,108],"relative":[44],"success,":[45],"some":[46],"established":[47],"design":[48],"choices":[49],"lead":[50],"to":[51,132],"number":[53],"of":[54,66,74,89,103,127],"practical":[55],"limitations":[56,83],"robot":[58],"control.":[59],"These":[60],"include":[61],"having":[62],"biased":[64],"estimate":[65],"state,":[68],"only":[70],"an":[71,86],"implicit":[72],"model":[73],"actions.":[76],"In":[77],"this":[78],"paper,":[79],"we":[80],"highlight":[81],"these":[82],"propose":[85],"extended":[87],"version":[88],"unbiased":[91],"(u-AIC).":[95],"The":[96,136],"u-AIC":[97,129],"maintains":[98],"all":[99],"compelling":[101],"benefits":[102],"AIC":[105],"removes":[107],"limitations.":[109],"Simulation":[110],"results":[111],"2-DOF":[114],"arm":[115],"experiments":[117],"real":[120],"7-DOF":[121],"manipulator":[122],"show":[123],"improved":[125],"performance":[126],"with":[130],"respect":[131],"standard":[134],"AIC.":[135],"code":[137],"can":[138],"be":[139],"found":[140],"at":[141],"https://github.com/cpezzato/unbiasedaic.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
