“…These layers encompass multiple levels, ranging from metrics of afferent signal strength at “lower” levels (using techniques such as heartbeat evoked potentials; Allen et al., 2016 ; Petzschner et al., 2019 ) and psychophysical properties (such as measuring perceptual sensitivity; Domschke et al., 2010 ; Kleckner et al., 2015 ; Petzschner et al., 2017 ) to psychological and cognitive components at “higher” levels ( Critchley and Garfinkel, 2017 ). Notable domains within these higher levels include attention toward bodily signals ( Berner et al., 2018 ; Murphy et al., 2019 ; Wang et al., 2019 ), static and dynamic beliefs and models of body state ( Critchley and Garfinkel, 2017 ; Seth, 2013 ; Tsakiris and Critchley, 2016 ), and insight into both our interoceptive abilities ( Garfinkel et al., 2015 , Garfinkel et al., 2016a , Garfinkel et al., 2016b , Harrison et al., 2021a ) and the accuracy of our interoceptive beliefs (“metacognition”) ( Petzschner et al., 2017 ; Stephan et al., 2016 ). Importantly, research into dynamic models of body state has also connected the interoceptive literature to that of learning, where influential (Bayesian) theories of inference about the external world, such as predictive coding ( Behrens et al., 2007 ; Feldman and Friston, 2010 ; Friston, 2005 ; O’Reilly et al., 2012 ), have been extended to interoception and used to propose how the brain may build models of the changing internal environment ( Barrett and Simmons, 2015 ; Gu et al., 2013 ; Seth, 2013 ; Seth et al., 2012 ; Stephan et al., 2016 ).…”