 Originally Posted by Hitokage
And I believe that our minds always know that we are actually dreaming
This is may be true; but is certainly a little more complicated (or so one of the leading theory goes...)
Essentially, during dreaming your consciousness breaks up into two components: primary and secondary.
Primary does not know that it is dreaming, for it cannot self-reflect strictly speaking. It may (according to my own interpretation) grow to accept the dream state at a more fundamental/intuitive level.
Secondary Consciousness is much more interesting: it is structurally uncoupled from Primary Consciousness and depleted of vital blood flow, rendering it in a kind of robotic activation state where it too cannot self-reflect, due to being so dramatically disempowered, but may activate spontaneously to produce self-reflection. This spontaneous activation of the secondary consciousness is the neurophysiological corollary of gaining dream lucidly.
So where does this signal to activate lucidity actually come from? This is the question that remains entirely unanswered. I would theorise that primary consciousness can be trained to attain a kind of pseudo-lucidity that it cannot itself fully appreciate, which in turn triggers aspects of the dormant Secondary Consciousness to come on-line.
Another idea is that the seat of metacognition in the brain emerges from neither of these systems specifically; and brings about heightened cognitive states though a separate, hitherto unexplored mechanism. There is a lot of circular causality in the way these systems operate, so agency is insidiously difficult to reduce to just one region.
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