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Predictive-Coding-Based Autonomous Regulation of Internally Generated and Externally Coupled Processing in Human-Robot Interaction

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Predictive coding characterizes adaptive behavior as a dynamic balance between internally generated predictions and external sensory evidence, yet how an embodied cognitive system can regulate this balance online during ongoing interaction remains poorly understood. This study proposes a predictive-coding-based mechanism for regulating internally generated and externally coupled processing during physical human--robot interaction. The framework employs a predictive-coding-inspired variational recurrent neural network (PV-RNN), in which a meta-prior controls the degree to which posterior infere

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