Figure 1.

(a) The forward model (FM) and (b) the predictive coding and active inference framework where $stat{e}_t$ and $sens{e}_{t+1}$ represent the current latent state and prediction of the next sensory state in terms of the exteroception and proprioception. The predicted proprioception can then be converted into a motor control signal as necessary, such as by using an inverse model as depicted in (b).