LQR Comparison Multi-step vs Single-step

Background: The study evaluates predictor performance using the clipped infinite-horizon LQR cost in a well-specified setting. While the single-step predictor exhibits a faster decay rate for this cost than the intermediate predictor, the comparison with the multi-step predictor is noted as future work.

Question / Future Work: Analyze the closed-loop control performance in the well-specified setting by comparing the infinite-horizon LQR cost decay rate between the direct multi-step predictor and the single-step (rollout or intermediate) predictors, which was left for future work in the paper.