Spatial and Temporal Hierarchy for Autonomous Navigation Using Active Inference in Minigrid Environment.
Entropy (Basel)
; 26(1)2024 Jan 18.
Article
en En
| MEDLINE
| ID: mdl-38248208
ABSTRACT
Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem with estimations of distance and direction (coarse-grained path integration) to construct cognitive maps of the surroundings. This cognitive map is believed to exhibit a hierarchical structure, allowing efficient planning when solving complex navigation tasks. Inspired by human behaviour, this paper presents a scalable hierarchical active inference model for autonomous navigation, exploration, and goal-oriented behaviour. The model uses visual observation and motion perception to combine curiosity-driven exploration with goal-oriented behaviour. Motion is planned using different levels of reasoning, i.e., from context to place to motion. This allows for efficient navigation in new spaces and rapid progress toward a target. By incorporating these human navigational strategies and their hierarchical representation of the environment, this model proposes a new solution for autonomous navigation and exploration. The approach is validated through simulations in a mini-grid environment.
Texto completo:
1
Colección:
01-internacional
Base de datos:
MEDLINE
Tipo de estudio:
Prognostic_studies
Idioma:
En
Revista:
Entropy (Basel)
Año:
2024
Tipo del documento:
Article
País de afiliación:
Bélgica
Pais de publicación:
Suiza