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The below is a table view. For a more graphical view of the differences see What is the difference between MySQL and MariaDB query optimizers.
Feature
/5.5
MySQL 5.5
MySQL 5.6
Disk access optimizations
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(ICP)
YES
-
(DS-MRR)
Cost-based choice of range vs. index_merge
ORDER BY ... LIMIT <small_limit>
Use extended (hidden) primary keys for innodb/xtradb
YES (5.5)
Join optimizations
(BKA)
User-set memory limits on all join buffers
Apply early outer table ON conditions
Null-rejecting conditions tested early for NULLs
Subquery optimizations
NULL-aware Materialization
Cost choice of materialization vs. in-to-exists
Fast explain with subqueries
Optimization for derived tables / views
Delayed materialization of derived tables / materialized views
Instant EXPLAIN for derived tables
Derived Table with Keys optimization
Fields of merge-able views and derived tables used in equality optimizations
Execution control
LIMIT ROWS EXAMINED rows_limit
Optimizer control (optimizer switch)
Systematic control of all optimizer strategies
partial
EXPLAIN improvements
Partial
EXPLAIN in JSON format
Optimizer trace