text: **Figure 1.**Depiction of a POMDP generative model. This encodes the agent’s expectations about how 
  the state s of the environment changes over time t, and how it generates observation o at each time step. 
  **A**, also called the observation model, describes how environmental states give rise to observations.**B**, 
  also called the transition model, describes how environmental states change over time, depending on 
  action u (called policy*π*when structured into sequences).**C**is the preference prior, which encodes 
  the agent’s preferences for observations. This shapes the expected free energy G associated with each 
  policy, which is used for policy selection.**D**encodes the agent’s prior belief over environmental states 
  before making any observations, and**E**is the prior over policies that determines the agent’s preferences 
  for policies in the absence of other motivation. 