Infants often exhibit goal-directed 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 "self-prior," and investigate whether it can autonomously induce goal-directed behavior. Integrated within an active inference framework based on the free energy principle, the self-prior 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 development.

本研究针对婴儿在无外部奖励标准下表现出的目标导向行为提供了新的视角，提出了一种被称为“自我先验”的新密度模型，旨在探讨其如何自主诱发目标导向行为。研究结果表明，这一机制能够基于主体自身的感官体验自然产生意图行为，显示出早期发展阶段中目标导向行为的自发出现。

通过自我先验的主动推理实现目标导向行为的出现