Companion repository to a submission to a Robotics & Automation Letters paper.

This repo is implementation (and a bit more :)) for the paper "Composing Non-Conjugate Factor Graphs with Closed-Form Variational Inference"

Julia package that provides closed-form expressions for computing the expectation of a function

Code for "Situated Hearing Aid Personalization as Bayesian Inference" — a Bayesian agent that learns hearing aid preferences through online scanning using variational message passing on factor graphs.

Code for running ARxI on a Bittle quadruped

Demo of Autoregressive Active Inference Agent (MARX-EFE) on real Bittle robot.