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.
Adaptive control: The model reference approach.IEEE transactions on systems, man, and cybernetics, SMC-14:169–170, 1984
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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.