Embodied Prediction1 Mind turned upside down?2 Radical predictive processing2.1 The core flow of information is top-down, not bottom-up, and the forward flow of sensory information is replaced by the forward flow of prediction error2.2 Motor control is just more top-down sensory prediction2.3 Efference copies and distinct “controllers” are replaced by top-down predictions2.4 Cost functions are absorbed by predictions.3 Putting predictive processing, body, and world together again3.1 Nesting simplicity within complexity3.2 Being human 3.3 Extending the predictive mind4 Conclusion: Towards a mature science of the embodied mind