It is now well known that brain evolution, development, and structure do not respect Western folk categories of mind – that is, the boundaries of those folk categories have never been identified in nature, despite decades of search. Categories for cognitions, emotions, perceptions, and so on, may be useful for describing the mental phenomena that constitute a human mind, but they make a poor starting point for understanding the interplay of mechanisms that create those mental events in the first place. In this paper, we integrate evolutionary, developmental, anatomical, and functional evidence and propose that predictive regulation of the body’s internal systems (allostasis) and modeling the sensory consequences of this regulation (interoception) may be basic functions of the brain that are embedded in coordinated structural and functional gradients. Our approach offers the basis for a coherent, neurobiologically-inspired research program that attempts to explain how a variety of psychological and physical phenomena may emerge from the same biological mechanisms, thus providing an opportunity to unify them under a common explanatory framework that can be used to develop shared vocabulary for theory building and knowledge accumulation.