This paper proposes how various disciplinary theories of cognition may be combined into a unifying, sub-symbolic, computational theory of cognition. The following theories are considered for integration: psychological theories, including the theory of event coding, event segmentation theory, the theory of anticipatory behavioral control, and concept development; artificial intelligence and machine learning theories, including reinforcement learning and generative artificial neural networks; and theories from theoretical and computational neuroscience, including predictive coding and free energy-based inference. In the light of such a (...) potential unification, it is discussed how abstract cognitive, conceptualized knowledge and understanding may be learned from actively gathered sensorimotor experiences. The unification rests on the free energy-based inference principle, which essentially implies that the brain builds a predictive, generative model of its environment. Neural activity-oriented inference causes the continuous adaptation of the currently active predictive encodings. Neural structure-oriented inference causes the longer term adaptation of the developing generative model as a whole. Finally, active inference strives for maintaining internal homeostasis, causing goal-directed motor behavior. To learn abstract, hierarchical encodings, however, it is proposed that free energy-based inference needs to be enhanced with structural priors, which bias cognitive development towards the formation of particular, behaviorally suitable encoding structures. As a result, it is hypothesized how abstract concepts can develop from, and thus how they are structured by and grounded in, sensorimotor experiences. Moreover, it is sketched-out how symbol-like thought can be generated by a temporarily active set of predictive encodings, which constitute a distributed neural attractor in the form of an interactive free-energy minimum. The activated, interactive network attractor essentially characterizes the semantics of a concept or a concept composition, such as an actual or imagined situation in our environment. Temporal successions of attractors then encode unfolding semantics, which may be generated by a behavioral or mental interaction with an actual or imagined situation in our environment. Implications, further predictions, possible verification and falsifications, as well as potential enhancements into a fully spelled-out unified theory of cognition are discussed at the end of the paper. (shrink)

Purpose: Constructivism postulates that the perceived reality is a complex construct formed during development. Depending on the particular school, these inner constructs take on different forms and structures and affect cognition in different ways. The purpose of this article is to address the questions of how and, even more importantly, why we form such inner constructs. Approach: This article proposes that brain development is controlled by an inherent anticipatory drive, which biases learning towards the formation of forward predictive structures and (...) inverse goal-oriented control structures. This drive, in combination with increasingly complex environmental interactions during cognitive development, enforces the structuring of our conscious self, which is embedded in a constructed inner reality. Essentially, the following questions are addressed: Which basic mechanisms lead us to the construction of inner realities? How are these emergent inner realities structured? How is the self represented within the inner realities? And consequently, which cognitive structures constitute the media for conscious thought and selfconsciousness? Findings: Due to the anticipatory drive, representations in the brain shape themselves predominantly purposefully or intentionally. Taking a developmental, evolutionary perspective, we show how the brain is forced to develop progressively complex and abstract representations of the self embedded in the constructed inner realities. These self representations can evoke different stages of self-consciousness. Implications: The anticipatory drive shapes brain structures and cognition during the development of progressively more complex, competent, and flexible goal-oriented bodyenvironment interactions. Self-consciousness develops because increasingly abstract, individualizing self representations are necessary to realize these progressively more challenging environmental interactions. (shrink)