Definitely, to my mind. It's not exactly error correction, it's comparison of two results, expectation (from emulation circuitry) vs "reality" as (measured by sensory feedback).

Incidentally, these circuits are chaotic. They are extremely sensitive to initial conditions. These conditions are in part the output of other circuits, which are chaotic themselves. The circuits can be trained to perform better and better, by constantly comparing actual performance to emulated performance. However they will rapidly degrade. This is why even top athletes benefit from warming up before competition: training their circuits to reach maximum performance, because they will have degraded overnight. That degradation may be marginal, but at elite sports level those margins make all the difference. The best athletes are able to train their physical circuitry as well as their emotional and cognitive circuitry.