Discussion
What happens to a belief state when the agent takes an action?
Answer: D
Acting moves probability mass according to how the action changes the world, generally spreading the distribution because the outcome is uncertain, and the subsequent percept then sharpens it again. Prediction and correction alternate in exactly this way in every filtering algorithm. Resetting, collapsing and freezing the distribution all discard information. The alternation of a step that increases uncertainty with one that reduces it is the structure of every state estimator.
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