Before revision:  We implement free energy minimization in a more physically principled manner by effectively casting it to Bayesian control dynamics. Specifically, we build a continuous-state formulation that prescribes the brain's computation for actively inferring the causes of sensory inputs, based on the principle of least action.
After revision:  We implement free energy minimization in a more physically principled formalism by implementing free energy minimization based on the principle of least action.