# Publications

# 1. Why don’t hexapods gallop?

**Year**: 2019-
**Topics**: BiomechanicsThe main contribution of this paper is to explain why the overwhelming majority of hexapods don’t employ the rectilinear gallop using simple mechanical arguments.

# 2. On the equivalence of causal path entropy and empowerment

**Year**: 2018-
**Topics**: AI, Uncertainty, Information Theory, Statistical MechanicsThe main contribution of this paper is to show that two intrinsic reward functions, the Causal Path Entropy and Empowerment, are equivalent only in deterministic environments. In non-deterministic environments, it is shown that the Causal Path Entropy has fundamental weaknesses compared to Empowerment. Moreover, the author demonstrates that the difference between Causal Path Entropy and Empowerment can’t be increased without diminishing Empowerment.

One motivation for writing this paper is that it addresses a question embedded in the following tweet by Shakir Mohamed, a research scientist at DeepMind:

@robertsdionne @hugo_larochelle Empowerment and causal entropic forces are related -not yet sure how. Transfer Entropy might be useful too.

— Shakir Mohamed (@shakir_za) October 16, 2015