“the fundamental goal of humans is to improve their capacity for independent action.”
Sometimes a person will sacrifice their personal liberty if the net benefit is an increase in their capacity for independent action.
For example, you might go into a partnership which added certain responsibilities you didn’t have before if the benefits of the partnership increased your capacity for independent action.
Paul McCartney gave up some creative liberty by collaborating with John Lennon, but the benefits made up for it.
In order to improve their capacity for independent action, people have to make decisions and take action. To make these decisions and move towards the goal, they need to have an accurate mental model of reality.
A more accurate model of reality leads to better actions and better decisions.