Abstract

Control theory is a popular theoretical framework for explaining cognitive domains such as motor control and “mindreading.” Such accounts frequently characterize their “internal models” as “simulating” things outside the brain. But in what sense are these “simulations”? Do they involve the kind of “replication” simulation found in the simulation theory of mindreading? I will argue that some but not all control -theoretic appeals to “simulation” involve R-simulation. To do so, I examine in detail a recent computational model of motor control and action perception based in control theory. I argue that the architecture does not use R-simulation during motor control, but does during action perception. A novel result of this analysis is that the forward model—the control - theoretic mechanism most often described as performing simulation—is not well characterized in terms of R- simulation. I conclude with some lessons for research on the mechanisms of mindreading