@article{closedformpredictivecodingviahierarchica,
  title = {Closed-form predictive coding via hierarchical Gaussian filters},
  author = {Aleksandrs Baskakovs and Sylvain Estebe and Kenneth Enevoldsen and Kristoffer Nielbo and Chris Mathys and Nicolas Legrand},
  year = {2026},
  eprint = {2605.20293},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.20293},
}