  Finally, Bratman claimed that rational agents have intentions that are consistent with their beliefs. The exact nature of this intention-belief consistency norm has since been the subject of considerable attention [Bratman 1987, Wallace 2001, Yaffe 2010]. But the general idea is that it is irrational to intend to F while also believing that one will not F—this would amount to an objectionable form of inconsistency. Yet desiring to F while believing that one will not F seems like no rational error at all.