Before revision:  Indeed, thought itself can be thought of as constituting dynamics of cascading belief propagation through the nodes of generative probability models specified by a cortical heterarchy "rooted" in perception-action cycles that ground the mind as an embodied control system for an autonomous agent.
After revision:  Indeed, thought itself can be thought of as constituting dynamics of cascading belief propagation through the nodes of generative probability models specified by a cortical heterarchy "rooted" in action-perception cycles that ground the mind as an embodied control system for an autonomous agent.