During the course of an animal’s interaction with its environments, activity within central neural circuits is orchestrated exquisitely to structure goal-oriented movement. During walking, for example, the head, body and limbs are coordinated in distinctive ways that are guided by the task at play, and also by posture and balance requirements. Hence, the overall performance of goal-oriented walking depends on the interplay between task-specific motor plans and stability reflexes. Copies of motor plans, typically described by the term efference copy, modulate stability reflexes in a predictive manner. However, the highly uncertain nature of natural environments indicates that the effect of efferent copy on movement control is insufficient; additional mechanisms must exist to regulate stability reflexes and coordinate motor programs flexibly under non-predictable conditions. In this talk, I will discuss our recent work examining how self-generated visual signals orchestrate the interplay between task-specific motor plans and stability reflexes during a self-paced, goal-oriented walking behavior.