This volume constitutes the papers of the 4th International Workshop on Active Inference, IWAI 2023, held in Ghent, Belgium on September 2023.The 17 full papers included in this book were carefully reviewed and selected from 34 submissions. They were organized in topical sections as follows: active inference and robotics; decision-making and control; active inference and psychology; from theory to implementation; learning representations for active inference; and theory of learning and inference.