Particularly when talking about predictive processing in a neurological sense, you'll often see people blending prediction and feedback loops of any kind. It so

Particularly when talking about predictive processing in a neurological sense, you'll often see people blending prediction and feedback loops of any kind. It sounds sort of weird and pointless at first, but the point they're trying to make is that the same circuits could work to do both. So the brain moves the arm by "predicting" extremely hard that the arm will be in a different place, and waiting for the error to go away. From the top we know that it's really just a control system, but from any given neuron's perspective it could just as easily be a predictive one.