Forward and Backward Inference in Spatial Cognition
Figure 7
Right: The figure shows the planned route traced out by forward (red) and backward (green) inference. For forward inference we are plotting the and
elements of
, and for backward inference the
and
elements of
. The agent is located at
(white cross) and the goal is at
(white circle). Left: The figure shows the estimated motor control sequence for producing the desired sensory goals. This sequence corresponds to the mean from backward inference,
, as described in the theory section on ‘Inference over Inputs’.