Action and behavior: a free-energy formulation |
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Authors: | Karl J Friston Jean Daunizeau James Kilner Stefan J Kiebel |
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Institution: | (1) Department of Mechanical Engineering, University of British Columbia, 6250 Applied Science Lane, V6T 1Z4 Vancouver, BC, Canada;(2) Mechanical and Aerospace Engineering, University of California at Irvine, 4200 Engineering Gateway, 92617-3975 Irvine, CA, USA |
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Abstract: | We have previously tried to explain perceptual inference and learning under a free-energy principle that pursues Helmholtz’s
agenda to understand the brain in terms of energy minimization. It is fairly easy to show that making inferences about the
causes of sensory data can be cast as the minimization of a free-energy bound on the likelihood of sensory inputs, given an
internal model of how they were caused. In this article, we consider what would happen if the data themselves were sampled
to minimize this bound. It transpires that the ensuing active sampling or inference is mandated by ergodic arguments based
on the very existence of adaptive agents. Furthermore, it accounts for many aspects of motor behavior; from retinal stabilization
to goal-seeking. In particular, it suggests that motor control can be understood as fulfilling prior expectations about proprioceptive
sensations. This formulation can explain why adaptive behavior emerges in biological agents and suggests a simple alternative
to optimal control theory. We illustrate these points using simulations of oculomotor control and then apply to same principles
to cued and goal-directed movements. In short, the free-energy formulation may provide an alternative perspective on the motor
control that places it in an intimate relationship with perception. |
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