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Commits on Sep 20, 2021

• Update README.md

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Commits on Jun 23, 2021

• Updated Conor's GitHub link.

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• Updated README for release. There are some problems with 'jacobian' in Pytorch 1.9.0 that need to be investigated.

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Commits on Mar 12, 2021

• Filling in new section in the README file.

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Commits on Feb 10, 2021

• A few tests and an updated README

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Commits on Feb 8, 2021

• Ignore files + small comment removed.

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Commits on Feb 5, 2021

• Some more comments.

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• Update ignore list.

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• Remove cache files.

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• Update README.md

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• Create README.md

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• Renamed files and reorganised the folder structure.

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• Found small bug on the update of the last order variable in each embedding order, now solved.

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Commits on Feb 4, 2021

• Cleaned the code but found a new bug: it appears that action is not working anymore?

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• About the new issues:

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Commits on Feb 2, 2021

• Testing github's PAT

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• Testing propagation of derivatives for variables integrated numerically.

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Commits on Jan 29, 2021

• Preparing the code for a full transition to nonlinear functions.

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• Had to play with parameters a bit: if the precision on observations is too high, priors are not strong enough to drive action, but if it's too low then actions are too slow and delays are introduce…

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• Remove 10* from the update, now replaced with an arbitrary precision matrix for the computation of action, see comment in the code:

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Commits on Jan 28, 2021

• Friston seems to have replaced the precision matrix in the minimisation of action with a fixed identity * exp(2). Check if this is true, and if it works.

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Commits on Jan 23, 2021

• NB: removed a 10x in the layer class that somehow makes the double integrator work. Bad parameters or is there something else?

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Commits on Jan 21, 2021

• All and all this seems to work, but we need to do more testing.

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Commits on Jan 20, 2021

• Yet to be fixed, since removing the line with dx means we are removing the LL method.

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Commits on Jan 19, 2021

• Couldn't fix it yet, but I'm quite confident a line in 'f' should suffice in the end.

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• Ignore cache files

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• Added some alternative forms possibly useful for debugging.

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• Heavy refactoring, replacing backward with manual gradients. (Time to move to JAX once and for all?)

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• Restructuring the code to accommodate Jacobians in generalised coordinates of motion. To (hopefully) facilitate this operation, all variables are initially defined to have higher embedding orders i…

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Commits on Jan 15, 2021

• To deal with actions using LL we need all the appropriate Jacobians (J_x, J_u, J_a, etc.) which requires a bit of extra work. Started now, will continue soon.

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Commits on Jan 14, 2021

• Proposal for a Jacobian for action (LL integration). Found a (likely-to-be) bug as it seems actions are not included in the LL simulation of the generative process, please check latest "FIXME".

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• Ran a few more tests, created a new file that includes differentials for different integration schemes (so far only LL).

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• Local linearisation implemented for the generative process and corrected a bug in the generative model inversion. The bug was due to an incorrect treatment of the Jacobian in the LL scheme derived …

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Commits on Jan 13, 2021

• Started testing local linearisation on main code, so far so good.

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• It might be better ti isolate the cost function in a new file, but we'll see that later.

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