This figure distinguishes between the equations of the generative model (left-hand side; see <b>Equation 6</b>) and the equations generating sensory information (right-hand side; see <b>Equation 5</b>).

<p>The generative model is trying to predict the sensory states produced by the equations on the right. These sensory states comprise the location of the agent's arm in both proprioceptive (intrinsic) and exteroceptive (extrinsic) coordinates. The locations of the four cues in the previous figure are shown in extrinsic coordinates in the lower right insert. In addition to these sensory inputs, the agent also receives sensory information about the salience of cues at the four locations (e.g., illumination). The equations of the generative model have been divided into those responsible for the selection or generation of a particular context or set and those specifying the relative affordance of cue locations used to select action. Crucially, both sets of equations are based on winnerless competition using the itinerant dynamics of the previous figure. These equations come to life when action (driving movements) becomes a function of conditional expectations about hidden variables in the generative model. See main text for further details.