{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,28]],"date-time":"2026-09-28T14:11:11Z","timestamp":1790604671322,"version":"4.1.0"},"reference-count":57,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2026,9,24]],"date-time":"2026-09-24T00:00:00Z","timestamp":1790208000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"},{"start":{"date-parts":[[2026,9,24]],"date-time":"2026-09-24T00:00:00Z","timestamp":1790208000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100002241","name":"Japan Science and Technology Agency","doi-asserted-by":"publisher","award":["JPMJPR23S4"],"award-info":[{"award-number":["JPMJPR23S4"]}],"id":[{"id":"10.13039\/501100002241","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP25K24741"],"award-info":[{"award-number":["JP25K24741"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Developmental Science"],"published-print":{"date-parts":[[2026,11]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:label\/>\n                    <jats:p>Infants often exhibit goal\u2010directed behaviors, such as reaching for a sensory stimulus, even when no external reward criterion is provided. These intrinsically motivated behaviors facilitate spontaneous exploration and learning of the body and environment during early developmental stages. Although computational modeling can offer insight into the mechanisms underlying such behaviors, many existing studies on intrinsic motivation focus primarily on how exploration contributes to acquiring external rewards. In this paper, we propose a novel density model for an agent's own multimodal sensory experiences, called the \u201cself\u2010prior,\u201d and investigate whether it can autonomously induce goal\u2010directed behavior. Integrated within an active inference framework based on the free energy principle, the self\u2010prior generates behavioral references purely from an intrinsic process that minimizes mismatches between average past sensory experiences and current observations. This mechanism is also analogous to the acquisition and utilization of a body schema through continuous interaction with the environment. We examine this approach in a simulated environment and confirm that the agent spontaneously reaches toward a tactile stimulus. Our study implements intrinsically motivated behavior shaped by the agent's own sensory experiences, demonstrating the spontaneous emergence of intentional behavior during early\u00a0development.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Summary<\/jats:title>\n                    <jats:p>\n                      <jats:list list-type=\"bullet\">\n                        <jats:list-item>\n                          <jats:p>Suggests a computational model for early intentional behavior, integrating body\u2010schema formation and goal\u2010directed actions under the free energy principle.<\/jats:p>\n                        <\/jats:list-item>\n                        <jats:list-item>\n                          <jats:p>Introduces a self\u2010prior as an internal density model that drives the emergence of goal\u2010directed behaviors without external rewards.<\/jats:p>\n                        <\/jats:list-item>\n                        <jats:list-item>\n                          <jats:p>Demonstrates spontaneous reaching for a sticker by minimizing mismatches between observed multimodal sensory inputs and the empirically acquired self\u2010prior.<\/jats:p>\n                        <\/jats:list-item>\n                      <\/jats:list>\n                    <\/jats:p>\n                  <\/jats:sec>","DOI":"10.1111\/desc.70286","type":"journal-article","created":{"date-parts":[[2026,9,24]],"date-time":"2026-09-24T13:53:21Z","timestamp":1790258001000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Emergence of Goal\u2010Directed Behaviors via Active Inference With Self\u2010Prior"],"prefix":"10.1111","volume":"29","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1356-9362","authenticated-orcid":false,"given":"Dongmin","family":"Kim","sequence":"first","affiliation":[{"name":"Graduate School of Information Science and Technology The University of Tokyo Tokyo Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6162-929X","authenticated-orcid":false,"given":"Hoshinori","family":"Kanazawa","sequence":"additional","affiliation":[{"name":"Graduate School of Information Science and Technology The University of Tokyo Tokyo Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9813-0668","authenticated-orcid":false,"given":"Naoto","family":"Yoshida","sequence":"additional","affiliation":[{"name":"Graduate School of Informatics Kyoto University Kyoto Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8443-4161","authenticated-orcid":false,"given":"Yasuo","family":"Kuniyoshi","sequence":"additional","affiliation":[{"name":"Graduate School of Information Science and Technology The University of Tokyo Tokyo Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,9,24]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.3390\/e25020327"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2018.00045"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.2044-835X.1986.tb01031.x"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnhum.2013.00647"},{"key":"e_1_2_10_6_1","unstructured":"Chen C. 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