A model in which each agent in a group infers the state of the world and acts to minimize its own surprise. Without any explicit alignment rules, the group spontaneously reproduces the classical regimes of collective motion seen in real animal groups — cohesion, milling, and polarization — and links individual uncertainty to group-level decision-making.

Published in Proceedings of the National Academy of Sciences (2024). Code at conorheins/collective_motion_actinf.