When a controller uses a model or a human's understanding of system behavior, exploration is effectively outsourced rather than learned through reinforcement learning.

“A controller let's say we have like a reference which it tries to follow.”

“we have some model of the like plant dynamics, it let's say it make it very extreme, we have an M_P_C_ controller, we have a uh or we have whatever else, or like a linear quadratic regulator, with some idea of kind of what this uh what this thing does, or if we have like a P_I_D_ we have like a a human who has an idea of what it should do and how it should behave. And then effectively you outsource all the exploration.”