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Motivated by the decomposition of VFE into prediction error and Bayesian surprise, FEP-Nav combines a Top-down Decoder, which provides an internal expectation of uncorrupted sensory input, with Adaptive Normalisation, which adjusts shifted feature dis","title":"Seeing Through Uncertainty: Free-Energy-Inspired Real-Time Adaptation for Robust Visual Navigation","url":"https://arxiv.org/abs/2403.01977","vendor":"arxiv_cs_ai"},"summary":"arXiv:2403.01977v5 Announce Type: replace-cross \nAbstract: Navigation in the natural world is a feat of adaptive inference, where biological organisms maintain goal-directed behaviour despite noisy and incomplete sensory streams. Central to this ability is the Free Energy Principle (FEP), which posits that perception is a generative process where the brain minimises Variational Free Energy (VFE) to maintain accurate internal models of the world. While Deep Neural Networks (DNNs) have served as powerful analogues for biological brains, they typically lack the real-time plasticity required to handle abrupt sensory shifts. We introduce FEP-Nav, a biologically inspired framework for real-time perceptual adaptation in robust visual navigation. Motivated by the decomposition of VFE into prediction error and Bayesian surprise, FEP-Nav combines a Top-down Decoder, which provides an internal expectation of uncorrupted sensory input, with Adaptive Normalisation, which adjusts shifted feature dis","title":"Seeing Through Uncertainty: Free-Energy-Inspired Real-Time Adaptation for Robust Visual Navigation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-17T04:43:38Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2403.01977"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:9536274115e99f883514caf9fe80f6294dedfcee5bf99e93881c147da177fa2d03582513f8ee3aee4002224a6c5f609a67b2766839c7fa190bae5566c24dd706","signer":"crovia.substrate","subject":{"observed_at":"2026-07-17T04:43:38Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2403.01977"},"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":"5873913a3bf144428d1d36ff816845e30889dfbe1f1647bf1f231119110d60bb","leaf_index":323208,"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":"2a7f809474dda4fbce51757bcafb46a2763888e4da05cad7c930ed8cfe4a2c2f","side":"right"},{"sibling":"100c4dfaf0791e7ebbb6e6841b3023196d7e8446e0637753f364ecff2faeaf5a","side":"right"},{"sibling":"a8147da3de864e84d9263fb9f9adbdd976d31601e3de16ac22d67d9edc7ed0d0","side":"right"},{"sibling":"7b652d66cf96d47444cafc6319bc797cdd8e6f62de2c040bbd2ecacc2b37655c","side":"left"},{"sibling":"2beab7d1097b80f5ad01cbeec08ed9a58db70c31ac4a5e613a053b5841072cb5","side":"right"},{"sibling":"d6805227f449f6a32787d356287cf7316d84ebabb2924195b6333b6278eda03a","side":"right"},{"sibling":"aebfde2196fc7fd2178375305cab7b77eaaa1ebf74063760b1eb4e14f8814e82","side":"right"},{"sibling":"b5089ad323e3a111201fbe7e6c412f67ceaa2ae3f4a343adb22b037ec4c30755","side":"left"},{"sibling":"4242cc570ec8c36a37f3f6f20dcae20b49fccc17c7b53ba47d8715e465bec585","side":"right"},{"sibling":"be025f48721bfc0ca7107f0454bda3ab460e50539f0caeb1bf839a8dabcf036c","side":"left"},{"sibling":"05a09763743cdc09fc45cf454e4e3ea4a0d1cd74f9c8162b2a57e2c873160908","side":"left"},{"sibling":"de3120ef2488b8a791a686b47257da4e612256abdfcdda7519265e7edd47d041","side":"left"},{"sibling":"e86f56a4883492da5b5e7b0201324c52946e865e69b99ebb532f41fe3c658ee4","side":"right"},{"sibling":"34d85f6ad6cc7dfa79d90e2b9ff99a561bcdc75b0301bbbd3e83861f54535c1e","side":"left"},{"sibling":"f302542c38ba7c3aab7c9280dd60259ecec777dca6e6f71b6f0729b0b8791b72","side":"left"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"9b11714124b9b951ff9450b0ee9d625a0b70b6da2cf388bd3df1475eec0b17ba","side":"right"},{"sibling":"a4523a9014d45df43e006e9210a73428c380d771f2c650a1b986910759b0cdf7","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":323382,"merkle_root":"2f4d32419c80a9600aba5a480fc3fb7012ec0a695c91a1b055048e78760b65ca","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260717T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-17T05:38:31Z","sig_algorithm":"ed25519","signature":"495308c7bf004117807331d3f71d0b079f6bd7ed7737faa58c773b1b3e80ee84928d2d8519cc7d2b809506501aada1be6546f72c7ecda3dad5445cbb44502209","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_301a15efb905ab5727dcf440b704edfba60d28e1d7210b4a5b37347d2a6e7878"}}