{"id":"https://openalex.org/W4288723602","doi":"https://doi.org/10.48550/arxiv.2207.13409","title":"Unbiased Active Inference for Classical Control","display_name":"Unbiased Active Inference for Classical Control","publication_year":2022,"publication_date":"2022-07-27","ids":{"openalex":"https://openalex.org/W4288723602","doi":"https://doi.org/10.48550/arxiv.2207.13409"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2207.13409","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.13409","pdf_url":"https://arxiv.org/pdf/2207.13409","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2207.13409","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":[],"countries":[],"is_corresponding":true,"raw_author_name":"Baioumy, Mohamed","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040457648","display_name":"Corrado Pezzato","orcid":"https://orcid.org/0000-0002-1835-9578"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pezzato, Corrado","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063861053","display_name":"Riccardo Ferrari","orcid":"https://orcid.org/0000-0003-3615-5445"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ferrari, Riccardo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5059686746","display_name":"Nick Hawes","orcid":"https://orcid.org/0000-0002-7556-6098"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hawes, Nick","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008739723"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9901000261306763,"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"}},"topics":[{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9901000261306763,"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"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9871000051498413,"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":0.9868000149726868,"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":0.8215827941894531},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5946866273880005},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5807064175605774},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.558330774307251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5357503294944763},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5219966173171997},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.508520245552063},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.47861331701278687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28951096534729004}],"concepts":[{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.8215827941894531},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5946866273880005},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5807064175605774},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.558330774307251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5357503294944763},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5219966173171997},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.508520245552063},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.47861331701278687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28951096534729004},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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":"pmh:oai:arXiv.org:2207.13409","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.13409","pdf_url":"https://arxiv.org/pdf/2207.13409","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2207.13409","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2207.13409","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2207.13409","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2207.13409","pdf_url":"https://arxiv.org/pdf/2207.13409","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"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/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254"],"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/unbiased_aic.":[142]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
