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===Higher-level Embodied perception models===There are a number of models in MCS that propose a higher-level wider viewpoint of conscious systems than archetypal models. By higher-level Embodied perception models or viewpoint we are not referring here to Higher-Order Theories of consciousness (HOT) which hypotheses and organisational principles for how systems may develop perception through interacting with their wider environment. As such, embodied perception has a rather different meaningsignificant overlap with [https://en.wikipedia.org/wiki/Embodied_cognition embodied cognition].

*The '''[https://en.wikipedia.org/wiki/Free_energy_principle Free Energy Principal]''' (FEP)<ref name=Friston2006> Friston, K.; Kilner, J.; Harrison, L. (2006), A free energy principle for the brain. Journal of Physiology-Paris. Elsevier BV. 100 (1–3): 70–87. doi:10.1016/j.jphysparis.2006.10.001</ref> is a model for how living and non-living systems remain in non-equilibrium steady-states by restricting themselves to a limited number of states. The model provides a principle by which systems may create an internal model of the outside environment in order to maintain their own integrity. The minimisation of free energy is formally related to variational Bayesian methods and was originally introduced as an explanation for embodied perception in neuroscience. Since it is the models that systems internally create under the FEP that may have relevance to perception, and not FEP directly itself, FEP can be thought of as giving a high-level view point wider viewpoint of the potential connections between systems and perception. It has been claimed that FEP has a connection to [https://en.wikipedia.org/wiki/Autopoiesis autopoiesis], but some contest this claim<ref name=Paolo2021> Di Paolo, E. A.; Thompson, E.; Beer, R. D. (2021), Laying down a forking path: Incompatibilities between enaction and the free energy principle. https://psyarxiv.com/d9v8f</ref>.