The Cybernetic Bayesian Brain1 Introduction2 The predictive brain and its cybernetic origins2.1 Predictive processing: The basics2.2 Predictive processing and the free energy principle2.3 Predictive processing, free energy, and cybernetics3 Interoceptive inference, emotion, and predictive selfhood 3.1 Interoceptive inference and emotion3.2 Implications of interoceptive inference3.3 The predictive embodied self3.4 Active inference, self-modeling, and evolutionary robotics4 Predictive processing and enactive cognitive science4.1 Enactive theories, weak and strong4.2 Sensorimotor contingency theory 4.3 Predictive perception of sensorimotor contingencies 5 Active inference5.1 Counterfactual PP and active inference5.2 Active interoceptive inference and counterfactual PP6 Conclusion