Flexible Intentions: An Active Inference Theory

Abstract

AO_SCPLOWBSTRACTC_SCPLOWWe present a normative computational theory of how neural circuitry may support visually-guided goal-directed actions in a dynamic environment. The model builds on Active Inference, in which perception and motor control signals are inferred through dynamic minimization of generalized prediction errors. The Posterior Parietal Cortex (PPC) is proposed to maintain constantly updated expectations, or beliefs over the environmental state, and by manipulating them through flexible intentions it is involved in dynamically generating goal-directed actions. In turn, the Dorsal Visual Stream (DVS) and the proprioceptive pathway implement generative models that translate the high-level belief into sensory-level predictions to infer targets, posture, and motor commands. A proof-of-concept agent embodying visual and proprioceptive sensors and an actuated upper limb was tested on target-reaching tasks. The agent behaved correctly under various conditions, including static and dynamic targets, different sensory feedbacks, sensory precisions, intention gains, and movement policies; limit conditions were individuated, too. Active Inference driven by dynamic and flexible intentions can thus support goal-directed behavior in constantly changing environments, and the PPC putatively hosts its core intention mechanism. More broadly, the study provides a normative basis for research on goal-directed behavior in end-to-end settings and further advances mechanistic theories of active biological systems.