Let’s check in one final time with our imagined brain, sealed inside its bony prison. We now know that this brain is far from isolated. It swims in a torrent of sensory signals from the world and the body, continually directing actions – self-fulfilling proprioceptive predictions – which proactively sculpt this sensory flow. The incoming sensory barrage is met by a cascade of top-down predictions, with prediction error signals streaming upward to stimulate ever better predictions and elicit new actions. This rolling process gives rise to an approximation to Bayesian inference, a GoodEnough
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