Action-based accounts of perception proliferate diversely in 20th century. In this section, we focus on the reafference theory of Richard Held and the more recent enactive approach of J. Kevin O’Regan and Alva Noë. Central to both accounts is the view that perception and perceptually guided action depend on abilities to anticipate the sensory effects of bodily movements. To be a perceiver it is necessary to have knowledge of what O’Regan and Noë call the laws of sensorimotor contingency—“the structure of the rules governing the sensory changes produced by various motor actions” (O’Regan &amp; Noë 2001: 941).