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Towards Interaction Regulation from Human Feedback via Free Energy Minimization

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

A central challenge across control and learning is the design of mechanisms regulating the interactions between humans and autonomous agents. Inspired by the free energy principle from computational neuroscience, we introduce a control-theoretical framework to integrate human preferences online into an agent policy. We turn the framework into an open control architecture and validate our approach using a human-in-the-loop experimental testbed involving a rover navigating via onboard sensing. The human, remotely located and equipped with virtual reality headsets, shares the same sensory informa

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