To use a well-known analogy from the philosophy of biology, we can recognise that the function of the heart is to pump blood, while also accepting that this function does not depend on the heart having a ‘desire’ to pump blood. Pumping blood is simply something that the heart does. Similarly, goal-directed actions can be understood as directed at a certain end (opening a door; driving so as to avoid pedestrians) without, the argument goes, attributing to the acting agents a psychological state representing those ends.