Active Sensing Subserves Task-Level Control

2026-05-21

AI Summary

Traditional engineering control systems struggle to replicate the robustness and agility exhibited by biological organisms in complex environments, primarily due to the neglect of active perception as a core component of task-level control. This work proposes that active perception serves not merely to reduce perceptual uncertainty but is intrinsically integrated into control at the task level. The study introduces a novel dual-mode “explore-exploit” control strategy that synergistically combines adaptive sensing, sensorimotor coupling, and dynamic behavioral mode switching. Through control-theoretic modeling, behavioral dynamical analysis, and biological empirical validation, the research elucidates the emergent mechanisms underlying biological active perception and establishes a new paradigm for enhancing perceptual and control capabilities in robotic systems.

Abstract

Active sensing is traditionally defined as the expenditure of energy, typically in the form of movement, for obtaining information. Here, we propose that the combination of reliance on adaptive sensors, the linkage between movement and sensing, and task-level control inevitably gives rise to the emergence of active sensing movements. In this way, active sensing is not driven by sensory goals, such as minimizing uncertainty about the state, but rather is necessary for task-level control. This hypothesis, that active sensing subserves control, is supported by both empirical data from organisms and mathematical theory. Interestingly, active sensing behaviors often occur in discrete epochs, interspersed with goal-oriented behavior. This suggests that animals switch between two behavioral modes with distinct control policies, an `explore' mode in which animals produce dynamic movements to shape sensory feedback, and an `exploit' mode in which animals produce slower compensatory movements that are directly related to achieving task goals. This strategy for feedback control that relies on adaptive sensors, active sensing, and mode switching is not commonly used in engineered systems despite being ubiquitous in biology. Engineered systems comprising state-of-the-art sensors, actuators, and mechanical designs can outperform animals with respect to ``cost functions'' such as maximum force generation, precision, and speed. Nevertheless, animals routinely achieve robust, graceful behaviors that are currently unmatched by engineered systems, suggesting that current control systems are insufficient. These insights, expressed in the language of control theory, may be critical for improving robotic sensing and control.

Problem

• active sensing
• task-level control
• feedback control
• mode switching
• adaptive sensors

Innovation

• active sensing
• task-level control
• adaptive sensors
• behavioral mode switching
• feedback control