Before revision:  We also discuss the efficient generalisation of our approach to deal with local changes in transition structure and its contribution to behavioural policy via a " sense of direction " corresponding to prediction of the effects of fixed ratios of actions .
After revision:  We also discuss the efficient generalisation of our approach to deal with local changes in transition structure and its contribution to behavioural policy via a " sense of direction and path integration: supporting generalisable inference over directed actions across different tasks .