As a general answer, the theory suggests that organisms maximize a quantity known as model evidence, which is just a way of saying 'how much evidence does some data provide for my model of the world?'

There are two complementary ways to maximize this - change your model or change your world.

If we now grant that actions also maximize model evidence, then actions can either be conducted to sample data that make the model a better fit of the data (exploration), or they can be conducted to sample observations that are consistent with the current model (exploitation).