MiS Preprint Repository

We have decided to discontinue the publication of preprints on our preprint server as of 1 March 2024. The publication culture within mathematics has changed so much due to the rise of repositories such as ArXiV ( that we are encouraging all institute members to make their preprints available there. An institute's repository in its previous form is, therefore, unnecessary. The preprints published to date will remain available here, but we will not add any new preprints here.

MiS Preprint

An Information Theoretic Approach to Prediction and Deliberative Decision Making of Embodied Systems

Nihat Ay and Keyan Zahedi


This article deals with the causal structure of an agent's sensori-motor loop. Of particular interest are causal effects that can be identified from an agent-centric perspective based on in situ observations. Within this identification, the world model of the agent plays a central role. The prediction quality of an optimal world model is closely related to the notion of predictive information. Its maximization leads to interesting behavioral patterns such as coordination. This is studied in a virtual robotics scenario.


Related publications

2013 Repository Open Access
Nihat Ay and Keyan Ghazi-Zahedi

Causal effects for prediction and deliberative decision making of embodied systems

In: Advances in cognitive neurodynamics III : proceedings of the 3rd International Conference on Cognitive Neurodynamics 2011 ; [June 9-13, 2011, Hilton Niseko Village, Hokkaido, Japan] / Yoko Yamaguchi (ed.)
Dordrecht : Springer, 2013. - pp. 499-506
(Advances in cognitive neurodynamics)