The field of motor control has long focused on the achievement of external goals through action (e.g., reaching and grasping objects). However, recent studies in conditions of multisensory conflict, such as when a subject experiences the rubber hand illusion or embodies an avatar in virtual reality, reveal the presence of unconscious movements that are not goal-directed, but rather aim at resolving multisensory conflicts; for example, by aligning the position of a person's arm with that of an

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... bodied avatar. This second, conflict-resolution imperative of movement control did not emerge in classical studies of motor adaptation and online corrections, which did not allow movements to reduce the conflicts; and has been largely ignored so far in formal theories. Here, we propose a model of movement control grounded in the theory of active inference that integrates intentional and conflict-resolution imperatives. We present three simulations showing that the active inference model is able to characterize movements guided by the intention to achieve an external goal, by the necessity to resolve multisensory conflict, or both. Furthermore, our simulations reveal a fundamental difference between the (active) inference underlying intentional and conflict-resolution imperatives, respectively, by showing that it is driven by two different (model and sensory) kinds of prediction errors. Finally, our simulations show that when movement is only guided by conflict-resolution, the model incorrectly infers that is velocity is zero, as if it was not moving. This result suggests a novel speculative explanation for the fact that people are unaware of their subtle compensatory movements to avoid multisensory conflict. Furthermore, it can potentially help shed light on deficits of motor awareness that arise in psychopathological conditions.