text: Another critical aspect of Fig. 1 is that it illustrates two path- 
  ways in which prediction errors at the proprioceptive and inte- 
  roceptive levels are used to steer physical actions (reflex arcs) 
  and autonomic actions (autonomic reflexes). Endowing predictive 
  coding with these reflexes—hence realizing an “active inference” 
  architecture—permits minimizing prediction errors by changing 
  the state of the world (by physically acting) or the internal milieu 
  (by engaging in autonomic actions) rather than only by changing 
  predictions, as described later. 