Figure 1.

Interoception and predictive coding. Motor and autonomic signals evoke interoceptive responses, “intero (actual),” which are compared with predicted responses, “intero (pred).” These predictions are generated by hierarchically organized forward models informed by motor and autonomic efference copy signals. The comparison might take place in the inferior olive and generates a prediction error to be sent to the cerebellum. Adapted from Seth and others (2012).