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Preprint Aug 2026

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

Fully online embodied learning requires synaptic adaptation to acquire new behaviors while preserving previously learned dynamics during ongoing interaction. We extend the Predictive-Coding-inspired Variational Recurrent Neural Network (PV-RNN) to continuously adapt its synaptic weights and propose Free-Energy-Gated Pl...

Hiroki Sawada, Jun Tani · 1 citation

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