1. Introduction  
2. Why Another Survey on RL for Robotics?  
3. Taxonomy  
3.1. Robot Competencies Learned with DRL  
3.2. Problem Formulation  
3.3. Solution Approach  
3.4. Level of Real-World Success  
4. Competency-Specific Review  
4.1. Locomotion  
4.2. Navigation  
4.3. Manipulation  
4.4. Mobile Manipulation  
4.5. Human-Robot Interaction  
4.6. Multi-Robot Interaction  
5. General Trends and Open Challenges  
6. Conclusion