Realizing Synthetic Active Inference Agents, Part II: Variational Message Updates

The free energy principle (FEP) describes (biological) agents as minimizing a variational free energy (FE) with respect to a generative model of their environment. Active inference (AIF) is a corollary of the FEP that describes how agents explore and exploit their environment by minimizing an expected FE objective. In two related papers, we describe a scalable, epistemic approach to synthetic AIF by message passing on free-form Forney-style factor graphs (FFGs). A companion paper (part I of this article; Koudahl et al., 2023) introduces a constrained FFG (CFFG) notation that visually represents (generalized) FE objectives for AIF. This article (part II) derives message-passing algorithms that minimize (generalized) FE objectives on a CFFG by variational calculus. A comparison between simulated Bethe and generalized FE agents illustrates how the message-passing approach to synthetic AIF induces epistemic behavior on a T-maze navigation task. Extension of the T-maze simulation to learning goal statistics and a multiagent bargaining setting illustrate how this approach encourages reuse of nodes and updates in alternative settings. With a full message-passing account of synthetic AIF agents, it becomes possible to derive and reuse message updates across models and move closer to industrial applications of synthetic AIF.