State-dependent observation noise, evaluated at a control-dependent belief mean, makes a linear-Gaussian active-inference agent's posterior covariance and (for scalar observations) epistemic value action-dependent, and blocks any fixed Kalman filter reproduction.
Dual control theory problems
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State-Dependent Observation Noise Reintroduces Epistemic Value in Linear-Gaussian Active Inference
State-dependent observation noise, evaluated at a control-dependent belief mean, makes a linear-Gaussian active-inference agent's posterior covariance and (for scalar observations) epistemic value action-dependent, and blocks any fixed Kalman filter reproduction.