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Is Robot Learning a New Subfield? The third section argues that the machine-learning and robotics communities reflect different cultures, target domains, terminology, and acceptable proofs that result in a de facto separation. The unique constraints placed on representation by robot learning are characterized in the fourth section. Finally, we close with some concluding remarks. Learning takes place when the system makes changes to its internal structure so as to improve some metric on its long-term future performance, as measured by a fixed standard (Russell 1991, p. 141).