Minimising expected free energy specifies the optimal balance between goal-seeking and itinerant novelty-seeking behaviour.

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• Expected free energy decomposes into risk (exploitation) and ambiguity (exploration) terms, providing optimal balance between goal-seeking and novelty-seeking.claim0.881
  Key insight into structure of decision-making; explains intrinsic motivation and curiosity.
• Minimising expected free energy ensures preferred outcomes are realised, thereby avoiding surprise on average.claim0.876
  How expected free energy links to survival.
• Curiosity, insight, decision-making, and diverse phenomena can all be accommodated by a single imperative: minimization of expected free energy (resolution of uncertainty).claim0.840
  Central thesis of the paper unifying cognitive phenomena under one objective function
• Expected free energy scores each possible course of action in terms of its ability to reach the range of preferred states of being.claim0.830
  Definitional claim from Section 2.
• The most likely (i.e., best) policies minimise expected free energy.claim0.829
  Decision-making rule in active inference.
• Expected Free Energy Minimizationmethod0.821
  Minimizing expected free energy for planning, decision-making, and action selection.
• Agents perceive by minimizing variational free energy to ensure model consistency with past observations and act by minimizing expected free energy to make future sensations consistent with preferences.claim0.820
  Formalization of perception-action cycle integrating inference and decision-making.
• The expected free energy can be unpacked in terms of risk and ambiguity.claim0.817
  A key decomposition presented in Section 7.