Dynamic expectation maximisation can furnish time-dependent conditional densities of system states and time-independent parameter densities through variational free energy optimization in generalised co-ordinates of motion.

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• 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.claim0.775
  Formalization of perception-action cycle integrating inference and decision-making.
• Under the Markov blanket assumption together with NESS, a generalised synchrony appears, such that the dynamics of internal states can be cast as performing inference over external states via minimisation of variational free energy.claim0.773
  Key theoretical claim linking active inference to physics in Section 2.
• By minimising variational free energy, agents perform approximate Bayesian inference.claim0.761
  Describes the epistemic function of variational free energy.
• These dynamics are consistent with predictive processing since active inference prescribes dynamics that minimise prediction error.concept0.753
  Connection between active inference neuronal dynamics and predictive processing theory.
• "A system can minimize free-energy by changing its configuration to change the way it samples the environment, or to change its expectations. These changes correspond to action and perception respectively."concept0.750
  Load-bearing definition of how action and perception implement free energy minimization.
• Any system that exists will appear to minimize free energy and therefore engage in active inference. Furthermore, this apparently inferential or mindful behaviour is (almost) inevitable.concept0.748
  Friston's key assertion resolving the tautology: existence implies free energy minimization, making inference inevitable.
• 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.quote0.746
  Concise statement of the free-energy principle's unification of action and perception.
• Active inference postulates that agents achieve survival by optimising two complementary objective functions, a variational free energy and an expected free energy.claim0.746
  Core claim of active inference stated in Section 2.