Lifelong Active Inference of Gait Control

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00388321" target="_blank" >RIV/68407700:21230/25:00388321 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/TNNLS.2025.3579814" target="_blank" >https://doi.org/10.1109/TNNLS.2025.3579814</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TNNLS.2025.3579814" target="_blank" >10.1109/TNNLS.2025.3579814</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Lifelong Active Inference of Gait Control

Popis výsledku v původním jazyce

Sustaining the robot’s longevity becomes challenging in dynamic deployments characterized by new unknown environments and embodiments outside of the prior knowledge. Hence, the knowledge of robot-environment interactions needs to be continually updated for system adaptation. It can be implemented through self-verification as a continual comparison of predictions with observations using the predictive coding (PC) principle. The principle has been further extended into the active inference control (AIC) in biomimetic robotics to drive the control, state estimation, and model update. However, continually updating one model leads to catastrophic forgetting in the long term. Therefore, we propose an autonomously expanding self-verifying world model (WM) of sensorimotor dynamics utilized in model-based gait control. The model combines PC with the incremental knowledge representation based on the internal model (IM) principle. The proposed method is experimentally validated in virtual and real scenarios, where the hexapod walking robot has to recognize and adapt to leg paralysis and then recognize the recovery. The method generates novel behaviors in real time, improving the performance and outperforming the examined state-of-the-art methods. Furthermore, the robot’s decisions and gained knowledge are interpretable and promise further functional scalability.

Název v anglickém jazyce

Lifelong Active Inference of Gait Control

Popis výsledku anglicky

Sustaining the robot’s longevity becomes challenging in dynamic deployments characterized by new unknown environments and embodiments outside of the prior knowledge. Hence, the knowledge of robot-environment interactions needs to be continually updated for system adaptation. It can be implemented through self-verification as a continual comparison of predictions with observations using the predictive coding (PC) principle. The principle has been further extended into the active inference control (AIC) in biomimetic robotics to drive the control, state estimation, and model update. However, continually updating one model leads to catastrophic forgetting in the long term. Therefore, we propose an autonomously expanding self-verifying world model (WM) of sensorimotor dynamics utilized in model-based gait control. The model combines PC with the incremental knowledge representation based on the internal model (IM) principle. The proposed method is experimentally validated in virtual and real scenarios, where the hexapod walking robot has to recognize and adapt to leg paralysis and then recognize the recovery. The method generates novel behaviors in real time, improving the performance and outperforming the examined state-of-the-art methods. Furthermore, the robot’s decisions and gained knowledge are interpretable and promise further functional scalability.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GC21-33041J" target="_blank" >GC21-33041J: Učení plánování pohybu ve složitých úlohách</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Neural Networks and Learning Systems

ISSN

2162-237X

e-ISSN

2162-2388

Svazek periodika

36

Číslo periodika v rámci svazku

10

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

12

Strana od-do

19133-19144

Kód UT WoS článku

001518834100001

EID výsledku v databázi Scopus

2-s2.0-105009702895