Figure 5. The effect of precision (dopamine) on behaviour.

Inferred states (top row) and trajectories through state-space (bottom row) under different levels of conditional uncertainty or expected precision. As in previous figures, the inferred sensory states (position in blue and velocity in green) are shown with their 90% confidence intervals. And the trajectories are superimposed on nullclines. As the expected precision falls, the inferred dynamics are less accountable to prior expectations, which become less potent in generating prediction errors and action. It is interesting to see that uncertainty about the states (gray area) increases, as precision falls and confidence is lost.