Let me bring things together step-by-step. What we consciously see depends on the brain’s best guess of what’s out there. Our experienced world comes from the inside out, not just the outside in. The rubber hand illusion shows that this applies to our experiences of what is and what is not our body. And these self-related predictions depend critically on sensory signals coming from deep inside the body. And finally, experiences of being an embodied self are more about control and regulation than figuring out what’s there. So our experiences of the world around us and ourselves within it — well, they’re kinds of controlled hallucinations that have been shaped over millions of years of evolution to keep us alive in worlds full of danger and opportunity. We predict ourselves into existence.