Most excitingly, it offers the first fully unified treatment of perception and action. It displays them as co-constructed around the common goal of minimizing error in the prediction of sensory states. To perceive is to find the predictions that best fit the sensory evidence. To act is to alter the world to bring it into line with some of those predictions. These are complementary means of dealing with prediction error, and they work together, each constantly influencing and being influenced by the other.
