World Model Learning from Demonstrations with Active Inference: Application to Driving Behavior

被引:2
作者
Wei, Ran [1 ]
Garcia, Alfredo [1 ]
McDonald, Anthony [1 ,2 ]
Markkula, Gustav [3 ]
Engstrom, Johan [4 ]
Supeene, Isaac [4 ]
O'Kelly, Matthew [4 ]
机构
[1] Texas A&M Univ, College Stn, TX USA
[2] Univ Wisconsin, Madison, WI USA
[3] Univ Leeds, Leeds, W Yorkshire, England
[4] Waymo LLC, Mountain View, CA USA
来源
ACTIVE INFERENCE, IWAI 2022 | 2023年 / 1721卷
基金
英国工程与自然科学研究理事会;
关键词
Active inference; Inverse reinforcement learning; Driving behavior modeling;
D O I
10.1007/978-3-031-28719-0_9
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Active inference proposes a unifying principle for perception and action as jointly minimizing the free energy of an agent's internal world model. In the active inference literature, world models are typically pre-specified or learned through interacting with an environment. This paper explores the possibility of learning world models of active inference agents from recorded demonstrations, with an application to human driving behavior modeling. The results show that the presented method can create models that generate human-like driving behavior but the approach is sensitive to input features.
引用
收藏
页码:130 / 142
页数:13
相关论文
共 33 条
[1]  
Baker C., 2011, P ANN M COGNITIVE SC, V33
[2]  
Bhattacharyya R, 2020, Arxiv, DOI arXiv:2006.06412
[3]   Active inference on discrete state-spaces: A synthesis [J].
Da Costa, Lancelot ;
Parr, Thomas ;
Sajid, Noor ;
Veselic, Sebastijan ;
Neacsu, Victorita ;
Friston, Karl .
JOURNAL OF MATHEMATICAL PSYCHOLOGY, 2020, 99
[4]  
DEHAAN P, 2019, ADV NEUR IN, V32, pNI372
[5]   Great expectations: a predictive processing account of automobile driving [J].
Engstrom, Johan ;
Bargman, Jonas ;
Nilsson, Daniel ;
Seppelt, Bobbie ;
Markkula, Gustav ;
Piccinini, Giulio Bianchi ;
Victor, Trent .
THEORETICAL ISSUES IN ERGONOMICS SCIENCE, 2018, 19 (02) :156-194
[6]   Active Inference: A Process Theory [J].
Friston, Karl ;
FitzGerald, Thomas ;
Rigoli, Francesco ;
Schwartenbeck, Philipp ;
Pezzulo, Giovanni .
NEURAL COMPUTATION, 2017, 29 (01) :1-49
[7]  
Haarnoja T, 2018, PR MACH LEARN RES, V80
[8]  
Janner M, 2019, ADV NEUR IN, V32
[9]  
Karkus P, 2017, ADV NEUR IN, V30
[10]   Inattention and Uncertainty in the Predictive Brain [J].
Kujala, Tuomo ;
Lappi, Otto .
FRONTIERS IN NEUROERGONOMICS, 2021, 2