Active inference and agency

I greatly enjoyed Seth's compelling synthesis of sensorimotor contingencies and active inference. I would also like to thank Jim Hopkins for sending me the quote (below)-which speaks directly to the embodied nature of perceptual inference that underlies the perspectives reconciled in Seth (this issue). These perspectives include perception as hypothesis testing, affordance, and sensorimotor contingencies. This commentary briefly rehearses the fundaments of active inference and offers a formal basis for Seth's key argument.