The mind, in this sense, is composed of mental models that we use to predict how our various actions might change the state of the world. A good example is driving a car [0] - when first learning, we lack an intuitive grasp on how turning the wheel might effect the car, but as we gain more experience we can simulate just how the car will respond right before we take the action, jarring us if we're wrong. This process can be applied to robots as well [1].

0. https://www.sciencedirect.com/science/article/pii/S187705092...!

1. https://www.creativemachineslab.com/uploads/6/9/3/4/69340277...