Manipulation method learning apparatus, manipulation method learning system, manipulation method learning method, and program

Abstract

A manipulation method learning apparatus includes: a storage portion that stores an environment model including a device capable of manipulating a target object; a contact state of the device and the target object acquired by using the environment model as an input and calculates an internal reward from a frequency of occurrence of the contact state; an external reward calculation portion that uses a state quantity of the device acquired by using the environment model, a state quantity of the target object acquired by using the environment model, and a contact state quantity as an input, searches a manipulation strategy of the target object, and calculates an external reward for a target task solution; and a search portion that searches while probabilistically selecting a first strategy updated by using the internal reward and a second strategy updated by using the external reward.