Bayes-optimal perception inherently produces self-organised instability (local Lyapunov exponents fluctuating around zero), so FEP drives the system toward criticality (Friston et al. 2012)

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• If a system attains a general steady-state, it will appear to behave in a Bayes optimal fashion, both in terms of optimal Bayesian design (exploration) and Bayesian decision theory (exploitation).hypothesis0.816
  Corollary 3 in Appendix B derived from steady-state assumptions.
• Any system that persists must minimise surprisal, thereby gathering evidence for its own generative model, a process known as self-evidencing.claim0.768
  Foundational claim of the paper, defining self-evidencing.
• Behavior prescribed by active inference dynamics is approximately Bayes-optimal.claim0.766
  Process theory outcomes produce normatively sound decision-making.
• 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.claim0.763
  Formalization of perception-action cycle integrating inference and decision-making.
• We hypothesize that this rescaling of the problem-solving search process is intrinsic to transitions in individuality.hypothesis0.759
  Hypothesis about chunking and ETIs.
• acting to optimize value and perception are two aspects of exactly the same principle; namely the minimisation of a quantity [free energy] that bounds the probability of sensory input, given a particular agent or phenotype.quote0.753
  Concise statement of the free-energy principle's unification of action and perception.
• Acting to optimize value and perception are two aspects of exactly the same principle: minimization of free energy.claim0.752
  Foundational claim unifying action and perception within single optimization framework.
• All neuronal processing and action selection minimize variational free energy, unifying perception, action, and learning.claim0.751
  Fundamental assertion: single imperative (free energy minimization) explains diverse cognitive and neural phenomena.