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使用自适应光滑波器稳定基于像素的深度主动推理控制器的融合
Kazuma Nagatsuka1, Kyo Kutsuzawa1, Dai Owaki1
1Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai 9808579, Miyagi, Japan.
Biomimetics (Basel, Switzerland)
|January 27, 2026
概括
本研究引入了机器人中的主动推理控制器的光滑过器,以防止局部最小值. 这种方法通过平滑自由能源功能来提高机器人控制任务的融合性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 计算神经科学是一种神经科学.
背景情况:
- 积极推断越来越多地用于机器人控制,因为它具有环境适应性.
- 传统的主动推理控制器使用梯度下降风险趋同到次优解决方案 (局部最小值).
研究的目的:
- 提出一种新的方法,使用光滑波器来减轻基于像素的主动推理控制器中的局部最小值.
- 提高机器人控制中的主动推理的融合性能和稳定性.
主要方法:
- 在主动推理框架内,对观察到的,预测到的和目标值应用了光滑波器.
- 根据预测和目标错误,光滑强度进行了动态调整,以平衡光滑和梯度信息.
- 该方法在模拟中使用对象跟踪和机器人手臂控制任务进行了评估.
主要成果:
- 与传统的主动推断控制器相比,提出的光滑波器方法显示了更好的融合性能.
- 调整光滑强度的动态调整防止了基本梯度信息的丢失.
结论:
- 平滑基于像素的主动推理控制器有效降低了局部最小值的风险.
- 提出的方法为使用主动推理的机器人控制应用提供了更可靠和更有效的方法.
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