Author

Hiroki Sawada

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Preprint Sep 2026

Predictive-Coding-Based Autonomous Regulation of Internally Generated and Externally Coupled Processing in Human-Robot Interaction

Predictive coding characterizes adaptive behavior as a dynamic balance between internally generated predictions and external sensory evidence, yet how an embodied cognitive system can regulate this balance online during ongoing interaction remains poorly understood. This study proposes a predictive-coding-based mechani...

Henrique Oyama, Hiroki Sawada, Jun Tani · 0 citations

Preprint Aug 2026

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

The Predictive-Coding-inspired Variational Recurrent Neural Network is extended to continuously adapt its synaptic weights and Free-Energy-Gated Plasticity (FEGP) is proposed, which regulates the effective learning rate according to variational free energy.

Hiroki Sawada, Jun Tani · 1 citation

Preprint Aug 2026

PredVLA: Predictive Sensorimotor Modeling for Sub-Million-Parameter Robot Manipulation

A mechanism-by-mechanism transition to the recurrent behavior-cloning baseline shows that replacing the predictive pathway with direct observation input produces the largest single performance drop, accounting for approximately $70\% of the endpoint gap.

Hiroki Sawada, Shunichi Kasahara · 0 citations

#small language model Preprint Aug 2026

PredVLA: A Sub-Million-Parameter Predictive-Coding Policy for Robot Manipulation

Results show that a sub-million-parameter recurrent generative policy can achieve strong performance on modern language-conditioned manipulation benchmarks while providing an explicit mechanism for prediction-error-driven online state correction.

Hiroki Sawada, Shunichi Kasahara · 0 citations