# Inference of Affordances and Active Motor Control in Simulated Agents

arXiv: https://arxiv.org/abs/2202.11532 · HTML: https://mlsanity.com/paper/2202.11532/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 47 references that are in the map.
- First posted on arXiv 23 Feb 2022.

## Builds on (most cited first, 16 of 16)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems](https://mlsanity.com/paper/2005.01643/) (2020)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [Dream to Control: Learning Behaviors by Latent Imagination](https://mlsanity.com/paper/1912.01603/) (2019)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [Learning Latent Dynamics for Planning from Pixels](https://mlsanity.com/paper/1811.04551/) (2018)
- [Aleatoric and Epistemic Uncertainty in Machine Learning: An Introduction to Concepts and Methods](https://mlsanity.com/paper/1910.09457/) (2019)
- [Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models](https://mlsanity.com/paper/1805.12114/) (2018)
- [Tune: A Research Platform for Distributed Model Selection and Training](https://mlsanity.com/paper/1807.05118/) (2018)
- [Quantifying Generalization in Reinforcement Learning](https://mlsanity.com/paper/1812.02341/) (2018)
- [Sample-efficient Cross-Entropy Method for Real-time Planning](https://mlsanity.com/paper/2008.06389/) (2020)
- [Exploring Model-based Planning with Policy Networks](https://mlsanity.com/paper/1906.08649/) (2019)
- [Sparsely Changing Latent States for Prediction and Planning in Partially Observable Domains](https://mlsanity.com/paper/2110.15949/) (2021)
- [Learning to Move with Affordance Maps](https://mlsanity.com/paper/2001.02364/) (2020)
- [Learning, Planning, and Control in a Monolithic Neural Event Inference Architecture](https://mlsanity.com/paper/1809.07412/) (2018)

## Built on by (most cited first, 2 of 2)

- [Quick and Accurate Affordance Learning](https://mlsanity.com/paper/2405.07816/) (2024)
- [Active Inference for an Intelligent Agent in Autonomous Reconnaissance Missions](https://mlsanity.com/paper/2510.17450/) (2025)

## Abstract (arXiv)

Flexible, goal-directed behavior is a fundamental aspect of human life. Based on the free energy minimization principle, the theory of active inference formalizes the generation of such behavior from a computational neuroscience perspective. Based on the theory, we introduce an output-probabilistic, temporally predictive, modular artificial neural network architecture, which processes sensorimotor information, infers behavior-relevant aspects of its world, and invokes highly flexible, goal-directed behavior. We show that our architecture, which is trained end-to-end to minimize an approximation of free energy, develops latent states that can be interpreted as affordance maps. That is, the emerging latent states signal which actions lead to which effects dependent on the local context. In combination with active inference, we show that flexible, goal-directed behavior can be invoked, incorporating the emerging affordance maps. As a result, our simulated agent flexibly steers through continuous spaces, avoids collisions with obstacles, and prefers pathways that lead to the goal with high certainty. Additionally, we show that the learned agent is highly suitable for zero-shot generalization across environments: After training the agent in a handful of fixed environments with obstacles and other terrains affecting its behavior, it performs similarly well in procedurally generated environments containing different amounts of obstacles and terrains of various sizes at different locations.