{"id":"https://openalex.org/W7134938390","doi":"https://doi.org/10.48550/arxiv.2603.09729","title":"Efficient and robust control with spikes that constrain free energy","display_name":"Efficient and robust control with spikes that constrain free energy","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7134938390","doi":"https://doi.org/10.48550/arxiv.2603.09729"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.09729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09729","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.09729","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064537813","display_name":"Andr\u00e9 Luiz Urbano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Urbano, Andr\u00e9","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057436325","display_name":"Pablo Lanillos","orcid":"https://orcid.org/0000-0001-9154-0798"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lanillos, Pablo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5091367014","display_name":"Sander Keemink","orcid":"https://orcid.org/0000-0001-5043-6724"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Keemink, Sander","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9351000189781189,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9351000189781189,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.026900000870227814,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.012400000356137753,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.632099986076355},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5095000267028809},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4715999960899353},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4657000005245209},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4526999890804291},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4194999933242798},{"id":"https://openalex.org/keywords/spiking-neural-network","display_name":"Spiking neural network","score":0.39980000257492065},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.3774999976158142},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.35679998993873596}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6674000024795532},{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.632099986076355},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5095000267028809},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4715999960899353},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4657000005245209},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4526999890804291},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4194999933242798},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.39980000257492065},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.3774999976158142},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3637999892234802},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.35679998993873596},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.3467999994754791},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.30649998784065247},{"id":"https://openalex.org/C2781390188","wikidata":"https://www.wikidata.org/wiki/Q25203449","display_name":"Spike (software development)","level":2,"score":0.3034000098705292},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.2831000089645386},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C124978682","wikidata":"https://www.wikidata.org/wiki/Q1201019","display_name":"Proof of concept","level":2,"score":0.25619998574256897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.09729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09729","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.09729","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09729","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8950931429862976}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Animal":[0],"brains":[1,22],"exhibit":[2],"remarkable":[3],"efficiency":[4],"in":[5,107,216],"perception":[6],"and":[7,15,35,61,90,139,151,157,207],"action,":[8],"while":[9,131],"being":[10],"robust":[11,56,91],"to":[12],"both":[13,144,195],"external":[14,145],"internal":[16,120,152],"perturbations.":[17],"The":[18,99,122],"means":[19],"by":[20,172],"which":[21,108],"accomplish":[23],"this":[24,73],"remains,":[25],"for":[26,47,54,187,211],"now,":[27],"poorly":[28],"understood,":[29],"hindering":[30],"our":[31,41,180],"understanding":[32],"of":[33,44,49,58,72,118],"animal":[34],"human":[36],"cognition,":[37],"as":[38,40,103],"well":[39],"own":[42],"implementation":[43],"efficient":[45,125,213],"algorithms":[46,215],"control":[48,93,189,214],"dynamical":[50],"systems.A":[51],"potential":[52],"candidate":[53],"a":[55,87,164,183,208],"mechanism":[57],"state":[59],"estimation":[60],"action":[62],"computation":[63],"is":[64],"the":[65,115],"free":[66,104,116,192],"energy":[67,105,117],"principle,":[68],"but":[69],"existing":[70],"implementations":[71],"principle":[74],"have":[75,140],"largely":[76],"relied":[77],"on":[78],"conventional,":[79],"biologically":[80],"implausible":[81],"approaches":[82],"without":[83],"spikes.":[84],"We":[85],"propose":[86],"novel,":[88],"efficient,":[89],"spiking":[92,137,188,205],"framework":[94],"with":[95,134,169],"realistic":[96],"biological":[97],"characteristics.":[98],"resulting":[100],"networks":[101,123,201],"function":[102],"constrainers,":[106],"neurons":[109],"only":[110],"fire":[111],"if":[112],"they":[113],"reduce":[114],"their":[119,204],"representation.":[121],"offer":[124],"operation":[126],"through":[127,190],"highly":[128],"sparse":[129],"activity":[130],"matching":[132],"performance":[133],"other":[135],"similar":[136],"frameworks,":[138],"high":[141],"resilience":[142],"against":[143],"(e.g.":[146,154],"sensory":[147],"noise":[148,156],"or":[149,159,176],"collisions)":[150],"perturbations":[153],"synaptic":[155],"delays":[158],"neuron":[160],"silencing)":[161],"that":[162],"such":[163],"network":[165],"would":[166],"be":[167],"faced":[168],"when":[170],"deployed":[171],"either":[173],"an":[174,177],"organism":[175],"engineer.":[178],"Overall,":[179],"work":[181],"provides":[182],"novel":[184],"mathematical":[185],"account":[186],"constraining":[191],"energy,":[193],"providing":[194],"better":[196],"insight":[197],"into":[198],"how":[199],"brain":[200],"might":[202],"leverage":[203],"substrate":[206],"new":[209],"route":[210],"implementing":[212],"neuromorphic":[217],"hardware.":[218]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-12T00:00:00"}
