Predictive coding: an account of the mirror neuron system
Open accessAbstract
Is it possible to understand the intentions of other people by simply observing their actions? Many believe that this ability is made possible by the brain's mirror neuron system through its direct link between action and observation. However, precisely how intentions can be inferred through action observation has provoked much debate. Here we suggest that the function of the mirror system can be understood within a predictive coding framework that appeals to the statistical approach known as empirical Bayes. Within this scheme the most likely cause of an observed action can be inferred by minimizing the prediction error at all levels of the cortical hierarchy that are engaged during action observation. This account identifies a precise role for the mirror system in our ability to infer intentions from actions and provides the outline of the underlying computational mechanisms.
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The AIM model only works when one sensory input is associated with one cause.
“The problem is that such a theory only works when one sensory input is associated with one cause (Hickok, 2009;Kilner et al., 2007).”
From Connecting minds and sharing emotions through mimicry: A neurocognitive model of emotional contagion (2017) · cites this paper as Kilner et al., 2007
In “Generative and recognition models” (page unavailable), the paper says a model that infers causes by inverting sensory inputs works only when each input is uniquely associated with one cause. This supports the stated limitation, but the passage applies it to a bottom-up recognition model rather than identifying the AIM model specifically. (LLM, conf=0.82)
Experimental — accuracy not yet measuredFree-energy and predictive-processing accounts suggest that biological systems update internal models in response to mismatches between observation and expectation.
“Free-energy37,38 and predictive-processing39,40 accounts suggest that biological systems update internal models in response to mismatches between observation and expectation.”
From Brain-inspired spatial intelligence for embodied agents (2026) · cites this paper as [40]
This flexibility avoids the single input-output relationship criticized in mirror neuron theories.
“This gives organisms greater flexibility and avoids single input-output relationship criticized in mirror neuron theories (Hickok, 2009;Kilner et al., 2007).”
From Connecting minds and sharing emotions through mimicry: A neurocognitive model of emotional contagion (2017) · cites this paper as Kilner et al., 2007
If certain creatures can use the repertoire of policies that they deploy for action selection to explain the actions of others, then we arrive at the Bayesian formulation of the mirror neuron system.
“If certain creatures can use the repertoire of policies that they deploy for action selection to explain the actions of others, then we arrive at the Bayesian formulation of the mirror neuron system (Kilner et al., 2007).”
From 'Seeing the Dark': Grounding Phenomenal Transparency and Opacity in Precision Estimation for Active Inference (2018) · cites this paper as Kilner et al., 2007
Autonomic mimicry remains relevant in adults as a mechanism for emotion regulation, particularly in emotionally salient or intimate interactions.
“Although autonomic mimicry is especially critical in infancy, it remains relevant in adults as a mechanism for emotion regulation. Adults continue to exhibit physiological mirroring, particularly in emotionally salient or intimate interactions.”
From Physiological attunement and flourishing: understanding the influence of relationships on health (2025) · cites this paper as [26]
The Introduction and Summary discuss motor representations of observed actions and inferring others’ intentions, not autonomic mimicry. Searches for autonomic mimicry, emotion regulation, physiological mirroring, and emotionally salient or intimate interactions found no passage addressing the claim in our copy. (LLM, conf=0.76)
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- Authors
- Kilner, J. M., Friston, K. J., & Frith, C. D.
- Affiliations
- Wellcome Centre for Human Neuroimaging (GB)
- Corresponding author
- Kilner, James M.
- Venue
- Cognitive Processing
- Published
- 2007-04-12
- Volume
- 8
- Issue
- 3
- Pages
- 159-166
- ISSN
- 1612-4782 (ISSN-L)
- 1612-4790
- PMC
- PMC2649419
- OpenAlex
- W2132960888
- Cited by
- 1,134
- References
- 45
- Citations by year
- 2026: 56 · 2025: 50 · 2024: 55 · 2023: 82 · 2022: 61 · 2021: 69 · 2020: 77 · 2019: 85 · 2018: 106 · 2017: 83 · 2016: 55 · 2015: 78 · 2014: 64 · 2013: 57 · 2012: 47
- FWCI
- 2.31
- Type
- journal article
- Language
- en
- Open access
- green
- www.ncbi.nlm.nih.gov
- Licence
- www.springer.com/tdm (tdm)
- Locations
- Cognitive Processing (publishedVersion)
- PubMed (publishedVersion)
- PubMed Central (acceptedVersion)
- UCL Discovery (University College London) (submittedVersion)
- Funders
- Wellcome Trust (081048)
- Topics
- Social Sciences › Psychology › Social Psychology › Action Observation and Synchronization
- Life Sciences › Neuroscience › Cognitive Neuroscience › Embodied and Extended Cognition
- Life Sciences › Neuroscience › Cognitive Neuroscience › Free Will and Agency
- Keywords
- mirror neuron system, predictive coding, action observation, intention understanding, empirical Bayes, prediction error, cortical hierarchy, computational neuroscience, social cognition
- MeSH terms
- Animals, Bayes Theorem, Humans, Models, Neurological, Motor Cortex, Neurons, Social Perception, Recognition, Psychology
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