Before revision:  The decision of which action to execute to reach a state is left to the online active inference routine, in order to resolve unexpected contingencies. This hybrid combination improves the robustness of plans specified through behavior trees, while allowing to cope with the curse of dimensionality in active inference .
After revision:  The decision of which action to execute to reach the desired state is performed online through active inference. The resulting hybrid combination improves the robustness of plans specified through behavior trees, while allowing to cope with the curse of dimensionality in active inference .