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

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