The duality of sensory inference and optimal control was known since 1960s and has recently been recognized as common computations required for  posterior distributions in dynamic Bayesian inference and  value functions in optimal control.
<fluency> The duality of sensory inference and optimal control was known since 1960s and has recently been recognized as common computations required for  posterior distributions in dynamic Bayesian inference and  value functions in optimal control.
The duality of sensory inference and optimal control was known since 1960s and has recently been recognized as common computations required for posterior distributions in dynamic Bayesian inference and the value functions in optimal control.