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Standard POMDPs value information only through its eventual effect on reward. The $\\rho$-POMDP framework instead rewards uncertainty reduction directly, through a belief-dependent utility $\\rho$, but in practice both the choice of $\\rho$ and the weight placed on it are tuned by hand for every task. We show that active inference removes this tuning entirely. Minimizing Expected Free Energy (EFE) is exactly equivalent to solving a $\\rho$-POMDP whose utility is expected information gain, and the exploration weight is fixed at $w=1$ because the variational bound expresses pragmatic and epistemic value in the same units (nats). We prove this equivalence for observe-then-commit POMDPs and extend it to factored observation POMDPs, a broader class that covers interleaved observe-act problems such as non-destructive test","title":"Expected Free Energy as Belief-Dependent Utility for rho-POMDPs","url":"https://arxiv.org/abs/2607.16981","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.16981v1 Announce Type: new \nAbstract: An agent acting under partial observability must decide when to gather information and which observations are worth their cost. Standard POMDPs value information only through its eventual effect on reward. The $\\rho$-POMDP framework instead rewards uncertainty reduction directly, through a belief-dependent utility $\\rho$, but in practice both the choice of $\\rho$ and the weight placed on it are tuned by hand for every task. We show that active inference removes this tuning entirely. Minimizing Expected Free Energy (EFE) is exactly equivalent to solving a $\\rho$-POMDP whose utility is expected information gain, and the exploration weight is fixed at $w=1$ because the variational bound expresses pragmatic and epistemic value in the same units (nats). We prove this equivalence for observe-then-commit POMDPs and extend it to factored observation POMDPs, a broader class that covers interleaved observe-act problems such as non-destructive test","title":"Expected Free Energy as Belief-Dependent Utility for rho-POMDPs","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-21T04:43:35Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.16981"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:553bc4ff43543eb20a76ade2d064631a1268ffffa1d55e1e0e3c25fd5b7e8755b0c43ce8500e7fcbeb6f71a3a454cca9a5461a550ae55b864a32ab4535bbd209","signer":"crovia.substrate","subject":{"observed_at":"2026-07-21T04:43:35Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.16981"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"acc5a15e7bc1f2967fba7edb138199e3bcc5b32972639cf70c6aef13a276cdf2","leaf_index":336557,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"ca90b1448bc18c0a6fbb651f371a25058da398baf17dfcb6e4e726eab018f639","side":"left"},{"sibling":"53759673cf4bea1f47f99e14d988158bee5481a6c780a0a3ed07ed449e9f46cb","side":"right"},{"sibling":"fc8be56e2a04dc2d00037129c80ddb52a851d58cddf894a3601149404ff1820b","side":"left"},{"sibling":"e2d130bd3b9a4cb9263004abc001aef64d9a1b7f0ef237b4878ce424e2f465dc","side":"left"},{"sibling":"b827d011c9f4451ef31c5fb8ba28e2e2e9dae55feaee9984c6ce0ffc95885af0","side":"right"},{"sibling":"b3158e349ba0fe21d8867fdb1b0601bb48823d15155801611bab72f2e5d722d7","side":"left"},{"sibling":"a2ec0c96e7ee9134cdcbfc3f3d7279dabbae2ae36687e5158bdb5f7e8fc549cb","side":"right"},{"sibling":"e6f9d6d6c760446a7b30dd4e30a28f58c0817f4bee09529ee009c470d86f5564","side":"left"},{"sibling":"38e5827f7c9f72ad34a2b97042f2fb5f7e868db899d074b7819af4f2209b9caa","side":"right"},{"sibling":"7b927551b5db06b6571913b4e6792ffcce5291a3eca5a0df4a3b6e296271105f","side":"left"},{"sibling":"b77a0b5ae4607c8fe6ba73449d46b35076e3dedc0c82a2c65a05780d42a7bc2e","side":"right"},{"sibling":"9eb5077edfb3dc553857d4794b925bfce117e0f8a1d049af5d0dd9026b470eef","side":"right"},{"sibling":"414b1a70fd1dcb25489a194714b97492b066684b15d0b7a48a176c4b9b5bc713","side":"right"},{"sibling":"21d66dd41003813f710b7617944f1bfba3258658a5d3370c21cad8f9e945bc99","side":"left"},{"sibling":"613f015699131eb89bd755dee67133be95af25cf5f16c1c8ce4b99d963b8dd86","side":"right"},{"sibling":"a729b574b1135956436ded5eef1fe8f08014ff6a0729749d307ab1bca93fcdc9","side":"right"},{"sibling":"77025bcb374a7ad74f520643e20a8ae1205a7ee78507b0beb93117760f1c29d3","side":"left"},{"sibling":"4bf21052e085e8ac81f1dec1d2b310bd12bf948992de6177d12e9d2fda8d39f0","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":337144,"merkle_root":"5e969cc01afa67e4dbe5d37b712cdb10f4aa1fd74404e02eab724cf487c8d6d9","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260721T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-21T05:38:38Z","sig_algorithm":"ed25519","signature":"5c0c1a8dd2793d787ccd5e49e8b4d70eed136352555518589f05c74be357fc171702e42a76c3a556d90e3d51ff36cb3d292aaac83c66566de7b943f318bda50c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_18d5c656cecdcd0d0899fe59c2af018dc0bcf25c32fdba627ea1c15b0c8ba6d6"}}