Figure 1.

Inference and perception across different modalities. Green arrows represent exteroceptive predictions and prediction errors underlying perception of the external world. Orange arrows represent proprioceptive predictions (and prediction errors) generating action through active inference. Blue arrows represent interoceptive predictions (and prediction errors) underlying emotional processing and autonomic regulation. Integrated experiences of embodied selfhood emerge from the joint hierarchical content of self-related predictions across all these dimensions, including—at hierarchically deep levels—multimodal and amodal predictions. Adapted from Seth [7]. (Online version in colour.)