The belief context consists of interaction processes, their interaction histories, and associated expectation **data** (discussed further at the end of this section), organized into object schemas. Each object schema's contents represent a set of beliefs that is probably about a real physical object. For instance, a visual tracker and its history **data** manages and contains a set of beliefs that include the location, color, and shape of an object. Similarly, an inactive action process for performing a grasp is associated with an expected success likelihood, which constitutes a belief about the graspability of the object.