at last embracing the fundamental unity of mind, body, and world. The shape of that unity is now clear. There is a fundamental drive, instantiated by the brain, to minimize errors in our own sensory predictions. That same drive guides, and is guided by, our own internal bodily states and by a rich array of physical actions, many of them designed to gather information and reduce uncertainty. Brain structure and neurochemistry, the physiological body, our own actions, history, and practices, and the environmental settings in which we live and work, all combine and cooperate to manage the flow of
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