 The analytical philosophy of action neglected the role of perception and attention in the guidance of agency for a long time. Concerning perception it was common to assume, often without any elaboration, that the reference to the guiding role of beliefs takes care of the role of perception. The standard theory does not limit the causal role of beliefs to those that the agent considers or possesses prior to the execution of the action, and so we may assume that the beliefs that are supposed to play a causal guidance role include perceptual beliefs that the agent acquires during the performance of the action. More recent work (Mele 2003; Pacherie 2008; Schlosser 2012a) has shown that the standard theory is compatible with the feedback-comparator model of movement control outlined above (see section 4.5). This model accounts not only for the role of perceptual and proprioceptive input, but also for the guidance provided by internal predictions in the fine-tuning and execution of motor control.