I would say, [1]Manuel Delaflor a rephrasing of it a little. Let
   me think - I had it the other day...

   ah yes!

   It's may not so much be *belief*, but *assumption*.

   Example: The cat jumps on the table not because it believes the
   table is there, but because it assumes the table will remain
   there. A fixed static reality is assumed before action.

   Perhaps a step further than a fixed reality would be a reality
   that is predicted - but that is still a static reality that is
   assumed will be there upon moment of action.

   It's not often that true uncertainty is assumed - rather, there
   are perhaps several assumptions that are made, and a choice
   between them, which would be the reaction.

   "I assume a-action will result in b-result because
   background-is-static-according-to-my-map"

References

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   1. https://www.facebook.com/manueldelaflor?hc_location=ufi