"Can dogs dream?"
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For innate abilities you use 会. 能 (or 可以) is used to say that something is (im)possible due to outside factors (可以 has a somewhat greater tendency to imply permission/prohibition specifically). For example:
- 我不会开车。"I can't (= don't have the ability to) drive."
- 这里不能开车。"[You] can't drive here (maybe it's prohibited or maybe there is not enough space)."
- 这里不可以开车。"It's not allowed to drive here."
Maybe 会 can be thought of more as an “inner ability” – as in the subject has the qualities and skills necessary to perform the action. Most of the times you encounter it, it’s about acquired skills, but it could be an inherent natural ability as well as with dogs and dreaming. The main thing is that it is not talking about external factors enabling the subject (for example 狗能睡觉 and especially 狗可以睡觉 would sound more like dogs are permitted to dream, or that there is no other external factor preventing them from dreaming).