Discussion
What does the sensor model describe?
Answer: B
The sensor or observation model gives the likelihood of seeing a particular percept if the world is in a particular state, which is exactly what Bayes' rule needs to convert an observation into a belief update. Physical specification informs it but is not it, evolution is the transition model, and attention is a separate control problem. Writing the model as a conditional probability in the right direction is the step that most often goes wrong when it is first attempted.
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