This book constitutes the revised selected papers of the 5th International Workshop on Active Inference, IWAI 2024, held in Oxford, UK, during September 9–11, 2024.

The 17 full papers included in this book were carefully reviewed and selected from 54 submissions. They were organized in topical sections as follows: Modeling Behaviour and Emotions; Hybrid Continuous-discrete Systems; Structure Learning; Multi-agent Systems; Epistemic Sampling; Robot Control; and Sustainability and Contextuality.