We tackle the hard problem of consciousness taking the naturally-selected, self-organising, embodied organism as our starting point. We provide a mathematical formalism describing how biological systems self-organise to hierarchically interpret unlabelled sensory information according to valence and specific needs. Such interpretations imply behavioural policies which can only be differentiated from each other by the qualitative aspect of information processing. Selection pressures favour systems that can intervene in the world to achieve homeostatic and reproductive goals. Quality is a property arising in such systems to link cause to affect to motivate real world interventions. This produces a range of qualitative classifiers (interoceptive and exteroceptive) that motivate specific actions and determine priorities and preferences.
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