Friston, K. Adams, R. Montague, R. (2012) What is value -- accumulated reward or evidence? Frontiers in Neurorobotics 6(11)
Bayes-optimal control without cost functions
Hidden states are extended to include hidden (control) states that model action. Must have a generative model of agency or control. agent infers its future action via Bayesian updates of posterior beliefs about the future.
Control states are not action. They can be regarded as fictive action that gives the generative model extra degrees of freedom to model state transitions under prior beliefs. "This means they only exist in the mind (posterior beliefs) of the agent." [This is why you would feel like you have agency, but you don't in reality].
Hmm... yeah this is complicated. Hopefully the examples will make it a little more clear.
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