The control device 200X functionally includes an operation policy acquisition means 21X and a policy combining means 23X. The operation policy acquisition means 21X is configured to acquire an operation policy relating to an operation of a robot. The operation policy acquisition means 21X is configured to acquire an operation policy relating to an operation of a robot.

Provided is a method wherein a movement or a manipulation of an object by a robot, observing constraints, from a starting condition to the manipulation target, is generated, wherein the manipulation is divided into different manipulation modes or sections, which include different constraints, wherein a plurality of manipulation mode-specific controllers for controlling partial manipulations in the different manipulation modes for sections are randomly generated and an optimized sequence of the controllers is randomly generated, wherein the controllers specify a vector field or a directional field, wherein a simulation module simulates the manipulation or movement for each of the controller sequences and determines an expense value or a cost value quantifying a reaching of the manipulation target, and wherein the controller sequence and the expense value are supplied to a machine learning module as training data in order to indicate an expense-optimized controller, which optimizes or minimizes the expense value.

The information processing device 1A mainly includes an acquisition unit 51A, a sampling unit 54A, an artificial force field calculation unit 55A, and an output unit 56A. The acquisition unit 51A is configured to acquire a task logical expression in which an objective task to be performed by a robot is expressed by a combination of a plurality of atomic tasks. The sampling unit 54A is configured to perform sampling of one potential function from among a plurality of potential functions each of which is synthesized atomic potential functions, the atomic potential functions each corresponding to each of the atomic tasks. The artificial force field calculation unit 55A is configured to calculate, on a basis of the sampled potential function, an approximate artificial force field which approximates an artificial force field yielded when the atomic potential functions are synthesized according to the task logical expression. The output unit 56A is configured to output the approximate artificial force field.

Provided is a method wherein a movement or a manipulation of an object by a robot, observing constraints, from a starting condition to the manipulation target, is generated, wherein the manipulation is divided into different manipulation modes or sections, which include different constraints, wherein a plurality of manipulation mode-specific controllers for controlling partial manipulations in the different manipulation modes for sections are randomly generated and an optimized sequence of the controllers is randomly generated, wherein the controllers specify a vector field or a directional field, wherein a simulation module simulates the manipulation or movement for each of the controller sequences and determines an expense value or a cost value quantifying a reaching of the manipulation target, and wherein the controller sequence and the expense value are supplied to a machine learning module as training data in order to indicate an expense-optimized controller, which optimizes or minimizes the expense value.

The information processing device 1A mainly includes an acquisition unit 51A, a sampling unit 54A, an artificial force field calculation unit 55A, and an output unit 56A. The acquisition unit 51A is configured to acquire a task logical expression in which an objective task to be performed by a robot is expressed by a combination of a plurality of atomic tasks. The sampling unit 54A is configured to perform sampling of one potential function from among a plurality of potential functions each of which is synthesized atomic potential functions, the atomic potential functions each corresponding to each of the atomic tasks. The artificial force field calculation unit 55A is configured to calculate, on a basis of the sampled potential function, an approximate artificial force field which approximates an artificial force field yielded when the atomic potential functions are synthesized according to the task logical expression. The output unit 56A is configured to output the approximate artificial force field.