Figure 7. Route and motor planning.
Right: The figure shows the planned route traced out by forward (red) and backward (green) inference. For forward inference we are plotting the 
and 
elements of 
, and for backward inference the 
and 
elements of 
. The agent is located at 
(white cross) and the goal is at 
(white circle). Left: The figure shows the estimated motor control sequence for producing the desired sensory goals. This sequence corresponds to the mean from backward inference, 
, as described in the theory section on ‘Inference over Inputs’.