Is the Perception a Generative Model?

Sensory information acts as kind of feedback on your expectations. So it allows you to often correct them, to refine them. But the heavy lifting seems to be being done by the expectations. M does that mean that er, the perception is a controlled hallucination? I sometimes think it would be good to flip that and just think that, in fact, hallucination is a kind of uncontrolled perception. The idea is that we bring action about by predicting sensory flows that are non actual and then getting rid of prediction errors relative to those sensory flows by bringing the action about. That means epistemic action, as it's sometimes called, is right there on the table.