@article{efficientandrobustcontrolwithspikesthatc,
  title = {Efficient and robust control with spikes that constrain free energy},
  author = {André Urbano and Pablo Lanillos and Sander Keemink},
  year = {2026},
  eprint = {2603.09729},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.09729},
}