TABLE 3.

A conclusive comparison of analytical-modeling-based and machine-learning-based control.

Aspects		Analytical modeling	Supervised learning*	Reinforcement learning
Human Intervention (Single robot)	Model derivation	✓	✗	✗
	Parameter tuning	✓	✗	✗
	Data collection	✗	✓ (offline)	✓ (online)
	Training	✗	✓	✓
Generalization (Same prototype)	Model derivation	✗	✗	✗
	Parameter tuning	✓	✗	✗
	Data collection	✗	✓ (offline)	✓ (online)
	Training	✗	✓	✓
Dependence on data		Low	high	high
Online refinement		✗	✓	✓
Adaptability to un-modeled disturbances		✗	✓	✓

^*Cells marked with gray shading indicate advantages.