Fig. 10: The “perceive-decide-act” (PDA) loop. Natural selection shapes this loop so that experiences guide actions that enhance fitness. © DONALD HOFFMAN The PDA loop is shaped by an essential feature of evolution—the fitness-payoff functions. The fitness of an action depends on the state of the world, but also on the organism (the agent) and its state. Each time an agent acts on the world, it changes the state of the world, and reaps a fitness reward (or punishment). Only an agent that acts in ways that reap enough fitness rewards will survive and reproduce. Natural selection favors agents
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