“…Therefore, in this case, free energy can be seen as a certainty-equivalent value of the subordinate decision problems, i.e., the amount of utility the agent would have to receive to be indifferent between this guaranteed utility and the potential expected utility of the subsequent decision steps taking account the associated information processing costs. The special case (19) has been studied extensively in multiple contexts, including quantal response equilibria in the game-theoretic literature [10,14], rational inattention and costly contemplation [11,75], bounded rationality with KL costs [12,19], KL control [76,77], entropy regularization [8,9], robustness [15,16], the emergence of heuristics [78], thermodynamic models of computation [79], and the analysis of information flow in perception-action systems [17,18]. While (19) is often regarded as an abstract measure of uncertainty reduction or a generic proxy for information processing costs, it can also be viewed as a physical capacity constraint, where the information that is required to achieve a certain expected utility is considered to be sent over a channel to the actuator [24,[80][81][82][83].…”