Neural Policy Composition from Free Energy Minimization

ArXi:2512.04745v3 Announce Type: replace-cross The ability to flexibly compose previously acquired skills to execute intelligent behaviors is a hallmark of natural intelligence. Such compositional flexibility is often attributed to context-dependent gating mechanisms that determine how multiple policies or behavioral primitives are combined. Yet, despite remarkable efforts, the normative objective from which such gating rules should arise, and the neural computations capable of implementing them, remain unclear.