Author

Jun Tani

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Preprint Aug 2026

Free-Energy-Gated Plasticity for Real-Time Online Motor Learning in Physical Human-Robot Interaction

The Predictive-Coding-inspired Variational Recurrent Neural Network is extended to continuously adapt its synaptic weights and Free-Energy-Gated Plasticity (FEGP) is proposed, which regulates the effective learning rate according to variational free energy.

Hiroki Sawada, Jun Tani · 1 citation