An active inference implementation of phototaxis

Understand

Active inference is emerging as a possible unifying theory of perception and action in cognitive and computational neuroscience.

• On this theory, perception is a process of inferring the causes of sensory data by minimising the error between actual sensations and those predicted by an inner \emph{generative} (probabilistic) model.
• Action on the other hand is drawn as a process that modifies the world such that the consequent sensory input meets expectations encoded in the same internal model.
• These two processes, inferring properties of the world and inferring actions needed to meet expectations, close the sensory/motor loop and suggest a deep symmetry between action and perception.