A model compresses a state space by capturing a set of invariances that predict the variance in the states. Its free parameters define the latent space of the model and should ideally fully correspond to the variability, the not-invariant (= unexplained) remainder of the state.
The function that connects models of touching objects and the nerve firings should optimize for generating a possible world state for every configuration of free variables. If you add more modalities, such as sight, they need be compatible in this sense.
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This implies that if there is a mismatch between the object you infer by touch and the object you infer by sight, you will have to come up with a mechanism that explains that mismatch (such as a mirror).
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