The project of coordinating perception, comprehension, and motor control is an exciting one, but I found it hard to follow some of Pickering & Garrod's (P&G's) arguments as presented. Consequently, my comment is not so much a disagreement with P&G but a query about the logic of forward models: It is not clear how they are supposed to work, nor why they are needed in this (or many other) contexts, and toward that end I present an alternative idea.
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