One of the major reasons psychologists think we have mental representations is to overcome delays in the nervous system. Information has to come from sensors such as the retina and travel the distance to the visual cortex. This takes time. That information must then be processed and combined with other information to generate adaptive responses. This takes time. Delays in a control system that relies on feedback are a big problem for stability. The more time it takes for feedback about how well you are doing to reach the brain, the less relevant that feedback information is - it's no longer about what you're doing right now. This makes it difficult to make sensible error corrections and it ups the chances that something will go badly wrong. A lot of people therefore claim that the only solution is prediction, and there's a strong research industry investigating how the nervous system predicts so well.
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