However, I have always been told not to keep rice in the rice cooker for days at a time, for health reasons. If it's warm, I'd imagine it's an even better environment for bacterial/spore growth.
IIRC, the reason Zojirushi gives for not keeping rice warm for too long is that it will get yellow and hard. I don't think they mentioned food safety concerns. Mine does have a small vent hole, so I guess the moisture must escape eventually.
I use the keep warm setting on a rice cooker for another reason: To make black garlic. Take 20 bulbs of good quality garlic, put it in the rice cooker, set it on "keep warm" (NOT cook!) for two weeks without opening the lid. Note the rice cooker will be useless for anything else after this because you'll never get rid of the ingrained garlic smell.