text: In general, the accuracy of the inference of hidden bodily 
  states, the “embodied self,” or other aspects of the model depends 
  on the signal-to-noise ratio of the sensations and on the quality of 
  the model. For example, it is difficult to self-localize in a city if it 
  is dark (low signal-to-noise ratio) or if one does not know the city 
  well (poor model). The inference of hidden bodily and emotional 
  states might function in an analogous manner. If the quality of 
  the afferent interoceptive (e.g. cardiac) signals is low, or if one has 
  a poor model of how one’s body functions, then it would estimate 
  one’s bodily states such as fatigue incorrectly (which in turn would 
  also impair its adaptive regulation of the same bodily states). Inte- 
  roceptive signals could be “too noisy” for various reasons, which 
  might be related to physiology, inflammation, or stress. The body 
  model can be poor in various ways, too. For example, it could 
  poorly characterize the statistical relations between interoceptive 
  sensations and hidden bodily states (e.g. systematically mischar- 
  acterize high heart rate as caused by hunger but not fatigue 
  or joy). 