Generalized Predictive Coding in Torch

Research of a deep predictive coding model for unsupervised representation learning from video and audio data.

Experiments and derivations for ACC2022 paper on variational message passing for online NARMAX identification.

Code and experiments for IWAI 2020 submission on online system identification

Simulation code and detailed exposition of the free energy princple (FEP).

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.

System identification on electro-mechanical positioning system via free energy minimization

An active inference agent based on expected free energy minimization with a nonlinear autoregressive exogenous model.

Online system identification in Silverbox by minimising free energy

Various experiments related to AGI

Swarm dynamics based on Free Energy Principle. Dissertation project for MSc Intelligent and Adaptive Systems at the University of Sussex.

Code, figures, animations for a NARX-EFE based agent.