Fig. 1.

Peripheral reflexes in Active Inference. Left: the general structure of a (close) control loop, which applies to both the anatomy of classical motor arc reflexes and autonomic reflexes. Right: Active Inference view of autonomic regulation (using the same scheme as the left graphic). Interoceptive prediction errors (e.g., the difference between the expected level of glucose and the currently sensed level) can be suppressed by autonomic reflexes, much like proprioceptive prediction errors (e.g., the difference between the expected and actual position of my finger) can be suppressed directly via arc reflexes.