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Abstract: I argue that when perception, indeed perceptual attention, plays a guiding role in intentional bodily action, it is a necessary part or constituent of that action. The argument begins with a challenge that necessarily arises for embodied agents, what I call the Many-Many Problem: in the context of action, agents face too many perceptual inputs and too many possible behavioral outputs. Action requires that the Many-Many Problem be solved by reducing the many-many set of options to a specific mapping between target and response. Throughout the execution of action, the agent must continue to perceptually select, and hence attend to, relevant information so as to guide the execution of specific movements. Since perceptual attention is a necessary part of solving the Many-Many Problem, it is a necessary part of action. Indeed, the whole of the process of implementing a solution to the Many-Many Problem, as constrained by the agent’s motivational state, just is the agent’s acting in a bodily way.