{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T10:55:18Z","timestamp":1775732118836,"version":"3.50.1"},"reference-count":59,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2024,12,11]],"date-time":"2024-12-11T00:00:00Z","timestamp":1733875200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Comput. Neurosci."],"abstract":"<jats:p>Inspired by animal navigation strategies, we introduce a novel computational model to navigate and map a space rooted in biologically inspired principles. Animals exhibit extraordinary navigation prowess, harnessing memory, imagination, and strategic decision-making to traverse complex and aliased environments adeptly. Our model aims to replicate these capabilities by incorporating a dynamically expanding cognitive map over predicted poses within an active inference framework, enhancing our agent's generative model plasticity to novelty and environmental changes. Through structure learning and active inference navigation, our model demonstrates efficient exploration and exploitation, dynamically expanding its model capacity in response to anticipated novel un-visited locations and updating the map given new evidence contradicting previous beliefs. Comparative analyses in mini-grid environments with the clone-structured cognitive graph model (CSCG), which shares similar objectives, highlight our model's ability to rapidly learn environmental structures within a single episode, with minimal navigation overlap. Our model achieves this without prior knowledge of observation and world dimensions, underscoring its robustness and efficacy in navigating intricate environments.<\/jats:p>","DOI":"10.3389\/fncom.2024.1498160","type":"journal-article","created":{"date-parts":[[2024,12,11]],"date-time":"2024-12-11T04:43:01Z","timestamp":1733892181000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Learning dynamic cognitive map with autonomous navigation"],"prefix":"10.3389","volume":"18","author":[{"given":"Daria","family":"de Tinguy","sequence":"first","affiliation":[]},{"given":"Tim","family":"Verbelen","sequence":"additional","affiliation":[]},{"given":"Bart","family":"Dhoedt","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2024,12,11]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.104","article-title":"\u201cAutonomous navigation, mapping and exploration with Gaussian processes,\u201d","author":"Ali","year":"2023","journal-title":"Proceedings of the Robotics: Science and Systems (RSS)"},{"key":"B2","unstructured":"Cognitive map2024"},{"key":"B3","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1016\/j.tins.2022.11.002","article-title":"Mental navigation and the neural mechanisms of insight","volume":"46","author":"Aru","year":"2023","journal-title":"Trends Neurosci"},{"key":"B4","article-title":"\u201cSelf-labelling via simultaneous clustering and representation learning,\u201d","author":"Asano","year":"2020","journal-title":"International Conference on Learning Representations"},{"key":"B5","doi-asserted-by":"publisher","first-page":"893","DOI":"10.1016\/j.neuron.2016.03.037","article-title":"Neural mechanisms of hierarchical planning in a virtual subway network","volume":"90","author":"Balaguer","year":"2016","journal-title":"Neuron"},{"key":"B6","doi-asserted-by":"publisher","first-page":"507","DOI":"10.1016\/j.neuron.2015.07.006","article-title":"Using grid cells for navigation","volume":"87","author":"Bush","year":"2015","journal-title":"Neuron"},{"key":"B7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644","article-title":"ORB-SLAM3: an accurate open-source library for visual, visual-inertial and multi-map SLAM","author":"Campos","year":"2020","journal-title":"CoRR, abs\/2007.11898"},{"key":"B8","article-title":"\u201cLearning to explore using active neural slam,\u201d","author":"Chaplot","year":"","journal-title":"International Conference on Learning Representations (ICLR)"},{"key":"B9","article-title":"Neural topological SLAM for visual navigation","author":"Chaplot","year":"","journal-title":"CoRR, abs\/2005.12256"},{"key":"B10","unstructured":"Chevalier-BoisvertM.\n            WillemsL.\n            PalS.\n          Minimalistic gridworld environment for openai gym2018"},{"key":"B11","first-page":"204","article-title":"\u201cIntegrating cognitive map learning and active inference for planning in ambiguous environments,\u201d","volume-title":"International Workshop on Active Inference","author":"de Maele","year":"2023"},{"key":"B12","doi-asserted-by":"publisher","first-page":"83","DOI":"10.3390\/e26010083","article-title":"Spatial and temporal hierarchy for autonomous navigation using active inference in minigrid environment","volume":"26","author":"de Tinguy","year":"2024","journal-title":"Entropy"},{"key":"B13","article-title":"Learning cognitive maps from transformer representations for efficient planning in partially observed environments","author":"Dedieu","year":"2024","journal-title":"arXiv preprint arXiv:2401.05946"},{"key":"B14","doi-asserted-by":"publisher","first-page":"220","DOI":"10.1002\/hipo.23147","article-title":"Navigating with grid and place cells in cluttered environments","volume":"30","author":"Edvardsen","year":"2019","journal-title":"Hippocampus"},{"key":"B15","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1016\/j.neuron.2015.06.013","article-title":"The hippocampus as a cognitive map \u2013 of social space","volume":"87","author":"Eichenbaum","year":"2015","journal-title":"Neuron"},{"key":"B16","doi-asserted-by":"publisher","first-page":"1504","DOI":"10.1038\/nn.4656","article-title":"The cognitive map in humans: spatial navigation and beyond","volume":"20","author":"Epstein","year":"2017","journal-title":"Nat. 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