Friston free energy minimization via perception and action
Active inference (Friston 2010) posits that agents minimize variational free energy F = KL[q(s)‖p(s|o)] − ln p(o).
The agent maintains beliefs q(s) about hidden states, perceives sensory input, and acts to bring observations
closer to preferred (prior) states. Blue dot = agent belief; green circle = preferred state; red dot = true state.
Arrows show prediction error driving both belief update (perception) and movement (action).