The article discusses different views on how the brain processes information, focusing on traditional cognitive theories versus newer theories that emphasize the body's role in cognition. The researchers explore criticisms of passive perception and serial processing, suggesting that internal modeling and inference play a key role in cognitive processes. They find that an inferential framework can align with embodied and enactive theories, and that computational and dynamical theories can complement each other. The study also suggests that internal generative models and predictive processing help in adaptive control loops, shedding light on how the brain handles tasks like planning and imagination.