See his blog post "What we've Learned to control" [1] and the survey paper "A Tour of Reinforcement Learning: The View from Continuous Control" [2] may be of interest.
[0]: https://people.eecs.berkeley.edu/~brecht/
[1]: https://www.argmin.net/2020/06/29/tour-revisited/
[2]: https://arxiv.org/abs/1806.09460