Flexible intentions: An Active Inference theory

Dynamic planning in hierarchical active inference

By dynamic planning, we refer to the ability of the human brain to infer and impose motor trajectories related to cognitive decisions. A recent paradigm, active inference, brings fundamental insights into the adaptation of biological organisms, constantly striving to minimize prediction errors to restrict themselves to life-compatible states. Over the past years, many studies have shown how human and animal behaviors could be explained in terms of active inference - either as discrete decision-making or continuous motor control - inspiring innovative solutions in robotics and artificial intelligence. Still, the literature lacks a comprehensive outlook on effectively planning realistic actions in changing environments. Setting ourselves the goal of modeling complex tasks such as tool use, we delve into the topic of dynamic planning in active inference, keeping in mind two crucial aspects of biological behavior: the capacity to understand and exploit affordances for object manipulation, and to learn the hierarchical interactions between the self and the environment, including other agents. We start from a simple unit and gradually describe more advanced structures, comparing recently proposed design choices and providing basic examples. This study distances itself from traditional views centered on neural networks and reinforcement learning, and points toward a yet unexplored direction in active inference: hybrid representations in hierarchical models.

Flow and intuition: a systems neuroscience comparison

This paper explores the relationship between intuition and flow from a neurodynamics perspective. Flow and intuition represent two cognitive phenomena rooted in nonconscious information processing; however, there are clear differences in both their phenomenal characteristics and, more broadly, their contribution to action and cognition. We propose, extrapolating from dual processing theory, that intuition serves as a rapid, nonconscious decision-making process, while flow facilitates this process in action, achieving optimal cognitive control and performance without [conscious] deliberation. By exploring these points of convergence between flow and intuition, we also attempt to reconcile the apparent paradox of the presence of enhanced intuition in flow, which is also a state of heightened cognitive control. To do so, we utilize a revised dual-processing framework, which allows us to productively align and differentiate flow and intuition (including intuition in flow). Furthermore, we draw on recent work examining flow from an active inference perspective. Our account not only heightens understanding of human cognition and consciousness, but also raises new questions for future research, aiming to deepen our comprehension of how flow and intuition can be harnessed to elevate human performance and wellbeing.

Slow but flexible or fast but rigid? Discrete and continuous processes compared

A tradeoff exists when dealing with complex tasks composed of multiple steps. High-level cognitive processes can find the best sequence of actions to achieve a goal in uncertain environments, but they are slow and require significant computational demand. In contrast, lower-level processing allows reacting to environmental stimuli rapidly, but with limited capacity to determine optimal actions or to replan when expectations are not met. Through reiteration of the same task, biological organisms find the optimal tradeoff: from action primitives, composite trajectories gradually emerge by creating task-specific neural structures. The two frameworks of active inference - a recent brain paradigm that views action and perception as subject to the same free energy minimization imperative - well capture high-level and low-level processes of human behavior, but how task specialization occurs in these terms is still unclear. In this study, we compare two strategies on a dynamic pick-and-place task: a hybrid (discrete-continuous) model with planning capabilities and a continuous-only model with fixed transitions. Both models rely on a hierarchical (intrinsic and extrinsic) structure, well suited for defining reaching and grasping movements, respectively. Our results show that continuous-only models perform better and with minimal resource expenditure but at the cost of less flexibility. Finally, we propose how discrete actions might lead to continuous attractors and compare the two frameworks with different motor learning phases, laying the foundations for further studies on bio-inspired task adaptation.

The Complex Relationship between Sleep and Cognitive Reserve: A Narrative Review Based on Human Studies

Sleep and brain/cognitive/neural reserve significantly impact well-being and cognition throughout life. This review aims to explore the intricate relationship between such factors, with reference to their effects on human cognitive functions. The specific goal is to understand the bidirectional influence that sleep and reserve exert on each other. Up to 6 February 2024, a methodical search of the literature was conducted using the PubMed database with terms related to brain, cognitive or neural reserve, and healthy or disturbed sleep. Based on the inclusion criteria, 11 articles were selected and analyzed for this review. The articles focus almost exclusively on cognitive reserve, with no explicit connection between sleep and brain or neural reserve. The results evidence sleep's role as a builder of cognitive reserve and cognitive reserve's role as a moderator in the effects of physiological and pathological sleep on cognitive functions. In conclusion, the findings of the present review support the notion that both sleep and cognitive reserve are critical factors in cognitive functioning. Deepening comprehension of the interactions between them is essential for devising strategies to enhance brain health and resilience against age- and pathology-related conditions.

Deep kinematic inference affords efficient and scalable control of bodily movements

Performing goal-directed movements requires mapping goals from extrinsic (workspace-relative) to intrinsic (body-relative) coordinates and then to motor signals. Mainstream approaches based on optimal control realize the mappings by minimizing cost functions, which is computationally demanding. Instead, active inference uses generative models to produce sensory predictions, which allows a cheaper inversion to the motor signals. However, devising generative models to control complex kinematic chains like the human body is challenging. We introduce an active inference architecture that affords a simple but effective mapping from extrinsic to intrinsic coordinates via inference and easily scales up to drive complex kinematic chains. Rich goals can be specified in both intrinsic and extrinsic coordinates using attractive or repulsive forces. The proposed model reproduces sophisticated bodily movements and paves the way for computationally efficient and biologically plausible control of actuated systems.

Active Vision in Binocular Depth Estimation: A Top-Down Perspective

Depth estimation is an ill-posed problem; objects of different shapes or dimensions, even if at different distances, may project to the same image on the retina. Our brain uses several cues for depth estimation, including monocular cues such as motion parallax and binocular cues such as diplopia. However, it remains unclear how the computations required for depth estimation are implemented in biologically plausible ways. State-of-the-art approaches to depth estimation based on deep neural networks implicitly describe the brain as a hierarchical feature detector. Instead, in this paper we propose an alternative approach that casts depth estimation as a problem of active inference. We show that depth can be inferred by inverting a hierarchical generative model that simultaneously predicts the eyes' projections from a 2D belief over an object. Model inversion consists of a series of biologically plausible homogeneous transformations based on Predictive Coding principles. Under the plausible assumption of a nonuniform fovea resolution, depth estimation favors an active vision strategy that fixates the object with the eyes, rendering the depth belief more accurate. This strategy is not realized by first fixating on a target and then estimating the depth; instead, it combines the two processes through action-perception cycles, with a similar mechanism of the saccades during object recognition. The proposed approach requires only local (top-down and bottom-up) message passing, which can be implemented in biologically plausible neural circuits.