Knowledge and action are the central relations between mind and world. In action, world is adapted to mind. In knowledge, mind is adapted to world. When world is maladapted to mind, there is a residue of desire. When mind is maladapted to world, there is a residue of belief. Desire aspires to action; belief aspires to knowledge. The point of desire is action; the point of belief is knowledge.
From Knowledge and Its Limits by Timothy Williamson