Step into High-Dimensional and Continuous Action Space: A Survey on Applications of Deep Reinforcement Learning to Robotics

Firstly, the emergence and development of DRL (deep reinforcement learning) are reviewed. Secondly, DRL algorithms used in high-dimensional and continuous action space are classified into value function approximation based algorithms, policy approximation based algorithms and other structures based algorithms. Then, typical DRL algorithms and their characteristics are introduced, especially their ideas, advantages and disadvantages. Finally, the future trends of applying DRL to robotics are forecasted according to the development directions of DRL algorithms.