In human cognition imagination is ofton associated with creativity. However, we all use out imagination moment to monet when we think forward to what will happen next, or recall past events. In AI we can see parallels in the way, say, a robot holds in internal model of the world and uses that for planning. We can also explicitly model imagination in cognitive models, such as for regret, in order to better understand the human mind.
Used in Chap. 22: pages 365, 366, 368, 369, 373, 375; Chap. 23: page 380