Howe updated 3] using isunkno internal predictions prediction) 4-7].

Active inference is a unifying theory for perception and action resting upon the idea that the brain maintains an internal model of the world by minimizing free energy.

However,extrinsic rewards may be insufficiently informative to encourage an agent to explore and understand its environment, particularly in partially observed settings where the agent has a limited view of its environment.

This technical note considers the sampling of outcomes that provide the greatest amount of information about the structure of underlying world models. This generalisation furnishes a principled approach to structure learning under a plausible set of generative models or hypotheses. In active inference, policies - i.e., combinations of actions - are selected based on their expected free energy, which comprises expected information gain and value. Information gain corresponds to the KL divergence between predictive posteriors with, and without, the consequences of action. Posteriors over models can be evaluated quickly and efficiently using Bayesian Model Reduction, based upon accumulated posterior beliefs about model parameters. The ensuing information gain can then be used to select actions that disambiguate among alternative models, in the spirit of optimal experimental design. We illustrate this kind of active selection or reasoning using partially observed discrete models; namely, a 'three-ball' paradigm used previously to describe artificial insight and 'aha moments' via (synthetic) introspection or sleep. We focus on the sample efficiency afforded by seeking outcomes that resolve the greatest uncertainty about the world model, under which outcomes are generated.

Building on the Extended Mind (EM) theory and radical enactivism, this article suggests an alternative to representation-based models of the mind. We lay out a novel ABC framework of the translating mind, in which translation is not the manipulation of static interlingual correspondences but an enacted activity, dynamically integrating affective, behavioral, and cognitive (ABC) processes. Drawing on Predictive Processing and (En)Active Inference, we argue that the translator's mind emerges, rather than being merely extended, through loops of brain-body-environment interactions. This non-representational account reframes translation as skillful participation in sociocultural practice, where meaning is co-created in real time through embodied interaction with texts, tools, and contexts.

The field of world modeling is fragmented, with researchers developing bespoke architectures that rarely build upon each other. We propose a framework that specifies the natural building blocks for structured world models based on the fundamental stochastic processes that any world model must capture: discrete processes (logic, symbols) and continuous processes (physics, dynamics); the world model is then defined by the hierarchical composition of these building blocks. We examine Hidden Markov Models (HMMs) and switching linear dynamical systems (sLDS) as natural building blocks for discrete and continuous modeling--which become partially-observable Markov decision processes (POMDPs) and controlled sLDS when augmented with actions. This modular approach supports both passive modeling (generation, forecasting) and active control (planning, decision-making) within the same architecture. We avoid the combinatorial explosion of traditional structure learning by largely fixing the causal architecture and searching over only four depth parameters. We review practical expressiveness through multimodal generative modeling (passive) and planning from pixels (active), with performance competitive to neural approaches while maintaining interpretability. The core outstanding challenge is scalable joint structure-parameter learning; current methods finesse this by cleverly growing structure and parameters incrementally, but are limited in their scalability. If solved, these natural building blocks could provide foundational infrastructure for world modeling, analogous to how standardized layers enabled progress in deep learning.

The Free Energy Principle (FEP) states that self-organizing systems must minimize variational free energy to persist (Friston, 2010, 2019), but the path from principle to implementable algorithm has remained unclear. We present a constructive proof that the FEP can be realized through exact local credit assignment. The system decomposes gradient computation hierarchically: spatial credit via feedback alignment, temporal credit via eligibility traces, and structural credit via a Trophic Field Map (TFM) that estimates expected gradient magnitude for each connection block. We prove these mechanisms are exact at their respective levels and validate the central claim empirically: the TFM achieves 0.9693 Pearson correlation with oracle gradients. This exactness produces emergent capabilities including 98.6% retention after task interference, autonomous recovery from 75% structural damage, self-organized criticality (spectral radius ρ 1.0), and sample-efficient reinforcement learning on continuous control tasks without replay buffers. The architecture unifies Pri-gogine's dissipative structures (Prigogine, 1977), Fris-ton's free energy minimization (Friston, 2010), and Hopfield's attractor dynamics (Hopfield, 1982; Amit et al., 1985a,b), demonstrating that exact hierarchical inference over network topology can be implemented with local, biologically plausible rules.

By building and updating internal cognitive maps, animals exhibit extraordinary navigation abilities in complex, dynamic environments. Inspired by these biological mechanisms, we present a real time robotic navigation system grounded in the Active Inference Framework (AIF). Our model incrementally constructs a topological map, infers the agent's location, and plans actions by minimising expected uncertainty and fulfilling perceptual goals without any prior training. Integrated into the ROS2 ecosystem, we validate its adaptability and efficiency across both 2D and 3D environments (simulated and real world), demonstrating competitive performance with traditional and state of the art exploration approaches while offering a biologically inspired navigation approach.

The human mind is capable of extraordinary achievements, yet it often appears to work against itself. It actively defends its cherished beliefs even in the face of contradictory evidence, conveniently interprets information to conform to desired narratives, and selectively searches for or avoids information to suit its various purposes. Despite these behaviours deviating from common normative standards for belief updating, we argue that such 'biases' are not inherently cognitive flaws, but rather an adaptive response to the significant pragmatic and cognitive costs associated with revising one's beliefs. This paper introduces a formal framework that aims to model the influence of these costs on our belief updating mechanisms. We treat belief updating as a motivated variational decision, where agents weigh the perceived 'utility' of a belief against the informational cost required to adopt a new belief state, quantified by the Kullback-Leibler divergence from the prior to the variational posterior. We perform computational experiments to demonstrate that simple instantiations of this resource-rational model can be used to qualitatively emulate commonplace human behaviours, including confirmation bias and attitude polarisation. In doing so, we suggest that this framework makes steps toward a more holistic account of the motivated Bayesian mechanics of belief change and provides practical insights for predicting, compensating for, and correcting deviations from desired belief updating processes.