text: A key reason for forming bodily or interoceptive models is 
  that they permit us to exert accurate control over the variety of 
  signals (e.g. somatosensory and interoceptive) that the body pro- 
  duces. Forming an accurate body schema is prominent for motor 
  control, whereas modeling interoceptive variables (e.g. thirst) 
  is key to keeping them under control by engaging autonomic 
  reflexes (e.g. vasodilation) and allostatic or goal-directed actions 
  (e.g. drinking) when they have incorrect values. The generative 
  modeling perspective can also be extended hierarchically to con- 
  sider richer models of multimodal experiences and “embodied 
  self” that persists in time and anchors our experiences, permit- 
  ting us to select adaptive courses of action to achieve our favorite 
  goals. 