Active inference unifies intentional and conflict-resolution imperatives of motor control
Fig 2
Mathematical description of the generative process.
The system state vector (Eq E.1) describes the system in generalized coordinates at the first order. The sensory state vector (Eq E.2) maps the system states into the sensory input (here proprioception and vision). The forward mapping (Eq E.3) describes how the system state vector maps into sensory input. The system dynamics (Eq E.4) is expressed as a set of differential equations that describe the expected temporal unfolding of the system state. The arm dynamics is approximated as a damped system driven by a combination of external forces (FE) and agent’s actions (A); in Eq E.4 marm represents the forearm mass and ϕ the viscosity constant of the damping. We assume a power dependence between damping and velocity, with β = 0.5, which allows reaching plausible velocity profiles.