Before revision:  We show how robotic tasks can be formulated as a free-energy minimization problem , bringing the neuroscientific theory of active inference on a mobile manipulator .
After revision:  We show how robotic tasks can be formulated as a free-energy minimization problem . The proposed approach allows to handle partially observable initial states and improves the robustness of classical BTs against unexpected contingencies while at the same time reducing the number of nodes in a tree .