Prospective Learning with Control proves ERM asymptotically achieves the Bayes optimal policy in non-stationary reset-free settings and outperforms time-aware RL on a 1D foraging benchmark.
On the application of probability theory to agricultural experiments: Essay on principles, section 9.(translated in 1990).Statistical Science, 5:465–480, 1923
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Optimal control of the future via prospective learning with control
Prospective Learning with Control proves ERM asymptotically achieves the Bayes optimal policy in non-stationary reset-free settings and outperforms time-aware RL on a 1D foraging benchmark.