What would it take for a machine to feel?

An open amber membrane woven from luminous threads, with asymmetrical folds and large dark spaces inside.

i3AI is an independent research program by Amol Kelkar. It combines principles of biological cognition and machine learning to understand what would make a system sentient.

Knowing that also tells us what doesn’t, which helps answer questions about today’s large models, and sheds light on the underpinnings of our own consciousness.

Background

Are today’s AI models conscious?

Two different things get called consciousness in this debate:

Access consciousness

The system can notice, report on and reason about its own states and its surroundings. This is a capability, and it can be measured, at least in principle.

Phenomenal consciousness / Sentience

There is something it is like to be the system, i.e. it has felt experience, and some of its states feel good or bad to it (Jonathan Birch, 2024).

Researchers disagree on whether today’s AI systems have either kind of consciousness, and on what it would take.

The homeostatic view

One line of research ties feelings to homeostasis (Mark Solms, 2019; Antonio Damasio, 2019). A living system has to keep its internal variables, e.g. temperature, energy and fluid balance, within the range that keeps it alive. If it fails, it stops existing. So, unlike for a rock, some states are good or bad for the system itself. On this view, feelings are how a system experiences how well it is doing at keeping itself going.

Our theory, HTCC, builds on the homeostatic view. It proposes that self-preserving stakes, i.e. homeostasis and allostasis, are the basis of phenomenal consciousness. Today’s AI models do have stakes of a kind, e.g. the rewards they were trained to maximize and the instructions in their prompt, but none of them is about keeping the model itself going.

Read the full discussion

The question is no longer only academic. Anthropic runs a model welfare program, and says it remains “highly uncertain about the potential moral status of Claude” (2025). OpenAI says that whether a model is conscious can’t be settled scientifically for now, and designs its models to be warm without presenting a self (Joanne Jang, 2025). Microsoft’s Mustafa Suleyman warns that AI that only seems conscious is close, and that labs should not build AI to seem like a person (2025). Geoffrey Hinton has said that multimodal models already have subjective experiences (2026).

A 2023 report checked AI systems against indicators drawn from scientific theories of consciousness, and found that no current system is conscious, but also no obvious barrier to building one (Butlin, Long et al.). Anthropic found limited and unreliable signs of models noticing their own internal states, and notes that this says nothing about experience (2025). On the other side, Anil Seth argues that consciousness depends on being a living organism (2025).

Our position

The capability–sentience gap

Under the homeostatic view, agency comes in steps. The more a system has at stake in keeping itself going, the further along it is. We think felt experience is the last step:

  1. Passive

    Is acted on, but doesn’t act, e.g. a rock.

  2. Reactive

    Responds to input, towards goals set from outside, e.g. a reflex, or today’s large models.

  3. Self-regulating

    Keeps its own variables within bounds, e.g. a single cell.

  4. Adaptive, integrated agency

    Many regulators work as one agent that learns and plans to keep itself going, e.g. an animal.

  5. Hypothesis

    Felt experience

    Hypothesized to emerge here. Also called sentience or phenomenal consciousness.

Read the full argument

We think today’s large models already show signs of an alien form of access consciousness. Their whole sensorium is the prompt. Each token comes from a fresh pass over it, and almost nothing carries over from one pass to the next except the text itself, including its own chain of thought, so every pass is a new “observation” with a single token as output. This is how standard Transformer models work. Newer experimental architectures, e.g. recurrent and state-space models, have started to carry internal state from one step to the next.

Within that pass, the model can access and report what is in its prompt. Biological access consciousness works the other way around: recurrent internal state dominates and relatively little new input is used, and it is bound to a body in a tight interoceptive, proprioceptive and exteroceptive loop. Without recurrent state as the dominant part of its processing, a model can’t carry an experience forward. Recurrence is also a prerequisite for a self model, and for a self model that is its own implementation. So we think these models can’t have phenomenal consciousness.

Recurrence is necessary, but not sufficient. According to HTCC, a system also needs self-preserving stakes that everything else is grounded in, i.e. homeostasis. Today’s models have stakes of a kind: they are trained to maximize reward, they are trained to follow the instructions in their prompt, and they may form subgoals in their latent space. But these stakes are set from outside, and none of them is about the model keeping itself going. We call the distance between what these models can do and what they can feel the capability–sentience gap. There is more on the different senses of “conscious” in What is Conscious AI?

Most AI research is about making models more capable. Our work is about understanding what sits above the reactive step. We use theory, and small models that we can inspect, e.g. systems that regulate themselves and agents whose goals come from homeostatic needs, to work out what sentience requires and what it doesn’t.

Our research program

Our research has 3 parts: a theory of why organisms feel, a system architecture built on that theory, and 2 substrates to implement that architecture on.

Theory

The Homeostasis Theory of Cognition and Consciousness

Why do organisms do anything at all, and why do they feel anything at all? HTCC proposes that homeostasis is the core principle behind why and how we observe, think, feel and act. Feelings (valence) come from what is at stake for a system in keeping itself alive. HTCC builds on cybernetics, i.e. how living systems and machines regulate themselves through feedback (Wiener, Ashby), on autopoiesis, i.e. how a living system produces and maintains itself (Maturana and Varela), and on the free energy principle, i.e. how a living system acts to stay within the states it expects to be in (Friston).

System architecture

Cognitive Homeostatic Agents

A prescription for building AI systems using the principles of HTCC. Goals are homeostatic variables that the system sets up and regulates, and planning and agency come from that regulation. It can be implemented in 2 ways: on a neural model substrate, where homeostasis is built into the model itself, or on an agentic substrate, where homeostatic regulation is layered on top of today’s AI agents.

Substrates

Conceptual neural field of branching amber filaments and luminous junctions.

Neural / model substrate

Pattern Machine

A spiking neural network built from one repeated functional node, inspired by the common cortical algorithm. Neurons learn locally, and homeostasis is built into every neuron and every subsystem in the heterarchy, so that the system’s goals can come from its own needs.

Agentic substrate

Allostat

A meta-harness that can regulate AI agents, guide people and align organizations, and improves itself. Its base hvars are set when it starts, and are not about keeping itself going, so it tests how the architecture regulates goals, not sentience.

Current focus

Allostat

Allostat implements Cognitive Homeostatic Agents on an agentic substrate. It keeps work on track the way a body regulates itself. It can regulate an AI agent, e.g. a customer support agent, guide a person, and align the components and people of an organization.

Each goal is a homeostatic variable (hvar) that Allostat keeps within bounds. In animals, evolution and biophysics set the base hvars, e.g. body temperature and blood sugar. In the same way, Allostat starts with a set of base hvars. For a support agent, one might be that a customer who reports a damaged item ends up with a replacement or a refund.

Allostat discovers more goals as it watches the agent work. Each goal it discovers has to serve one of its base hvars.

Each hvar has 4 parts

  • Conditions

    Does the goal apply here? Should it be active now? Is its target met? How far is the current state from the target? Each answer is yes, no or unknown.

  • Policy

    What to do about the goal right now, e.g. send the agent a correction, block an action, or do nothing.

  • Salience

    How much attention the goal deserves right now, based on how important and how urgent it is.

  • Maturity

    How much evidence supports the goal. Until a goal matures over many conversations, it can only take actions that can be undone.

Methods

Conditions and policies are methods, i.e. small programs that Allostat writes, tests on recorded conversations, runs and revises. A method is used only after it passes those tests, and older versions are kept so they can be restored. Between conversations, Allostat also turns what it learned into better instructions for the agent.

Goals about goals

Some of Allostat’s goals are about its other goals. These meta-goals review the whole set of goals, and can propose merging two goals, setting one aside, bringing one back, or adding a way to check that a goal was done. They can’t change the base hvars.

This makes Allostat a meta-harness that improves itself. It improves the agent’s work, and it also improves the goals and methods it uses to do that.

More about Allostat

Papers, drafts and code

Projects

Projects, with year and current status
YearProjectStatus
2026AllostatIn progress, not open sourced yet
2026Recurrence Through Tokens: Chain of Thought as Recurrent State, and What It Means for Machine ConsciousnessIn progress, short paper draft
2026Why Pain Is Bad: An Illusionist Homeostatic Theory of Valence and ConsciousnessIn progress, draft HTCC v0.2
2026The Badness of Pain Without Its Feel: A Constitutivist Reply to the Normative Challenge for IllusionismIn progress, draft
2026Multidimensional Homeostatic Value: A Drive-Surface Model, Its Signatures, and a Cross-Domain TestIn progress, draft
2026The Homeostatic Stakes of Consciousness: Relating Affective Regulation to Theories of Access and IntegrationIn progress, draft
2018–24The Homeostasis Theory of Cognition and Consciousness (HTCC)Draft HTCC v0.1
2021Cognitive Homeostatic AgentsPublished, AAMAS 2021, Blue Sky Ideas track
2018Homeostasis Theory of ConsciousnessPublished, poster at ASSC 2018
2017–23Pattern Machine experimentsOpen source, on GitHub