 \E^{\bd{\gamma},\bd{\delta}}_x\left[ \sum^T_{t=0}f_t(X_t,U_t) - \Psi(\bd{f})\right] &\le \E^{\bd{\gamma},\bd{\delta}}_x\left[ \sum^T_{t=0}f_t(X_t,U_t) + \wh{V}_T(X_{T+0},f^T)\right] \\         &= \E^{\