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We propose an adaptive model-predictive controller that balances driving thesystem to a goal state and seeking system observations that are informativewith respect to the parameters of a nonlinear autoregressive exogenous model.The controller's objective function is derived from an expected free energyfunctional and contains information-theoretic terms expressing uncertainty overmodel parameters and output predictions. Experiments illustrate how parameteruncertainty affects the control objective and evaluate the proposed controllerfor a pendulum swing-up task.

Information-seeking polynomial NARX model-predictive control through expected free energy minimization