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For humans and monkeys, understanding the actions of others is central to survival. Here we review the physiological properties of three cortical areas involved in this capacity: the STS, PF and F5. Based on the anatomical connections of these areas, and the Hebbian learning rule, we propose a simple but powerful account of how the monkey brain can learn to understand the actions of others by associating them with self-produced actions, at the same time discriminating its own actions from those of others. As this system appears also to exist in man, this network model can provide a framework for understanding human social perception.