Fig. 5.

sensory attenuation during self-made acts. This figure uses the same format as Fig. 4 – and reports the same simulation. However, here, we have reduced the log precision of sensory (auditory) prediction errors from 2 to 0. This effectively prevents ascending – and irreducible – prediction errors due to sensorimotor delays from confounding the dynamics in the higher vocal centre. This means the higher vocal centre can provide veridical top–down proprioceptive predictions and elicit and uncorrupted birdsong. This example illustrates the permissive nature of sensory attenuation during the enactment of descending predictions through open loop control.