“…Such an epistemic drive has the effect of promoting actions that uncover information about hidden states via sampling informative observations. This intrinsic drive to uncover information, and its natural emergence via the minimization of expected free energy, is integral to accounts of exploratory behaviour, curiosity, salience, and related active-sensing phenomena under active inference (FitzGerald, Dolan, & Friston, 2015; Friston, Rosch, Parr, Price, & Bowman, 2017; Friston, Lin, et al, 2017; Parr & Friston, 2017b, 2018b; Mirza, Adams, Parr, & Friston, 2019). An alternative formulation of the expected free energy is given in the second line of Equation (10), where minimizing expected free energy promotes policies that reduce ‘ambiguity,’ defined as the expected uncertainty of observations, given the states expected under a policy.…”