Even when uncertainty doesn’t affect behavior, it leaves a neural signature. Neural state space analyses reveal a dimension separating high from low uncertainty, regardless of whether it’s target or feedback-related, suggesting the brain can adjust to sensory uncertainty based on behavioral demands.

Visual uncertainty about the target impairs reach accuracy and disrupts cortical motor goal encoding during planning and reach start. In contrast, feedback uncertainty only affects behavior and neural activity when task-critical, as in BCI control where no alternative sensory feedback is available.

We show action-effect latencies don't affect perceived loudness, but long latencies reduce the sense of agency. This contrasts with findings in other sensory domains, suggesting auditory sensory attenuation isn't a necessary outcome of action-effect prediction and may not reliably measure agency.

The sensorimotor remapping required to implement an abstract task rule occurs within the existing repertoire of neural dynamics, while compensating for perturbed sensory feedback requires exploration of independent neural dynamics in the parietal cortex. 3/3

Context-dependent mapping of sensory input onto motor output is key for goal-directed behavior. We found that the brain implements this mapping either with or without reconfiguring parietal sensorimotor networks, depending on the type of behavioral context. 2/3