Before revision: We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments . 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 propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments , showing how robotic tasks can be formulated as a free-energy minimization problem , bringing the neuroscientific theory of active inference on a mobile manipulator .