Guided Reinforcement Learning: A Review and Evaluation for Efficient and Effective Real-World Robotics [Survey]

Recent successes aside, reinforcement learning (RL) still faces significant challenges in its application to the real-world robotics domain. Guiding the learning process with additional knowledge offers a potential solution, thus leveraging the strengths of data- and knowledge-driven approaches. However, this field of research encompasses several disciplines and hence would benefit from a structured overview.