Before revision:  The model learns to predict environmental state transitions by self-exploration and generating motor actions by sampling stochastic internal states z . Habitual behavior, which is obtained from the prior distribution of z , is acquired by reinforcement learning.
After revision:  The model learns to predict environmental state transitions by self-exploration and generating motor actions by sampling stochastic internal states z . Habitual behavior, which is obtained from the prior distribution of z , is acquired by reinforcement learning.