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Recent trends in robot learning are to use trajectory-based optimal control techniques and reinforcement learning to scale complex robotic systems. On the one hand, increased computational power and multiprocessing, and on the other hand, probabilistic reinforcement learning methods and function approximation, have contributed to a steadily increasing interest in robot learning. Imitation learning has helped significantly to start learning with reasonable initial behavior. However, many applications are still restricted to rather lowdimensional domains and toy applications. Future work will have to demonstrate the continual and autonomous learning abilities, which were alluded to in the introduction.