Suppose markets are perfectly efficient and asset prices reflect all available information. Under this assumption one expects current prices to be non-biased estimators of future prices. It seems to me that this should impose some upper bound on the returns one expects to receive from holding assets. In particular, I would expect the returns to equal the discount rate of other market participants, as the market needs to at least compensate for deferring consumption.
However, most samples of large-cap stocks have systematically performed better than this, generally generating double-digit returns. Of course, there is some suvivorship bias here, but it seems plausible that when one accounts for this, it still exceeds discount rates. Why is this? What explains these high returns? It seems that either investors must be systematically mistaken with their expectations, or that there are other factors that explain these returns.
Possibly loss aversion might result in the discount of assets with disproportional downside risks, but this explanation should not apply in the age of algorithmic trading, as this aversion is unlikely to be programmed into trading software.
To clarify my question,
Efficient markets: $p_{today}=E(p_{future})$
High returns: $p_{future}-p_{today}>>0$
Which seems to imply either systematic irrationality ($E(p_{future})<p_{future}$), or that something else goes on that explains high returns.