Figure 3.

The overall model. Updating the current distal goal is an explicit part of the model of each brain in the dyad, and this in turn controls desirability. The mirror system plays an ACQ-like role in the analysis of self-actions as well as recognizing the actions and intentions of others. Perception of the physical and social scene sets up decisions on the current distal goal as well as providing input to diverse processes. Among the factors not shown here are that modelling is at the trajectory level, and that proprioception plays a key role in the generation and monitoring of one's own actions.