This is the published version of the paper.This version of the publication may differ from the final published version. behavior prescribed by these dynamics has a degree of face validity, providing a formal explanation for reward seeking, context learning, and epistemic foraging. Technically, the fact that a gradient descent appears to be a valid description of neuronal activity means that variational free energy is a Lyapunov function for neuronal dynamics, which therefore conform to Hamilton's principle of least action. Permanent repository link

HighlightsOptimal behaviour is quintessentially belief based.Behaviour can be described as optimising expected free energy.Expected free energy entails pragmatic and epistemic value.Habits are learned by observing one’s own goal directed behaviour.Habits are then selected online during active inference.