AISep 29, 2025
Message passing-based inference in an autoregressive active inference agentWouter M. Kouw, Tim N. Nisslbeck, Wouter L. N. Nuijten
We present the design of an autoregressive active inference agent in the form of message passing on a factor graph. Expected free energy is derived and distributed across a planning graph. The proposed agent is validated on a robot navigation task, demonstrating exploration and exploitation in a continuous-valued observation space with bounded continuous-valued actions. Compared to a classical optimal controller, the agent modulates action based on predictive uncertainty, arriving later but with a better model of the robot's dynamics.