“…More recently, it has been proposed that this intuitive idea can be captured in terms of hierarchical Bayesian inference, using generative models with predictive coding or free-energy minimisation; and that this is the main neurocomputational principle for the brain's perception of the environment as well as its learning of new contingencies (Ballard, Hinton, & Sejnowski, 1983;Dayan, Hinton, Neal, & Zemel, 1995;Friston, 2002;Friston, 2003;Friston, 2005;Kawato, Hayakawa, & Inui, 1993;Kersten, Mamassian, & Yuille, 2004;Knill & Pouget, 2004;Mumford, 1992;Murray, Schrater, & Kersten, 2004;Rao & Ballard, 1999).…”