Patent ID: 11971709
Assignee: OMRON CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 10:
11. A non-transitory computer-readable recording medium, recording a learning program for causing a computer to execute the steps of:
acquiring a plurality of first learning data sets, each of which is constituted by a combination of simulation data generated by simulating an actual sensor that monitors an environment where a task of a robot device is executed and first environmental information related to the environment where the task indicated by the simulation data is executed;
acquiring a plurality of second learning data sets, each of which is constituted by a combination of actual data obtained by the actual sensor and second environmental information related to an environment where the task indicated by the actual data is executed;
acquiring a plurality of third learning data sets, each of which is constituted by a combination of third environmental information related to the environment where the task is executed, state information related to a state of the robot device when the task is executed, and a control command for causing the robot device to execute the task under conditions indicated by the third environmental information and the state information;
performing machine learning of an extractor using the first learning data sets and the second learning data sets; and
performing machine learning of a controller using the third learning data sets,
wherein the step of performing of the machine learning of the extractor includes
a first training step of training the extractor such that environmental information that conforms to the corresponding first environmental information is extracted from the simulation data for each of the first learning data sets, and
a second training step of training the extractor such that environmental information that conforms to the corresponding second environmental information is extracted from the actual data for each of the second learning data sets after executing the first training step, and

the step of performing of the machine learning of the controller includes a training step of training the controller such that if the third environmental information and the state information are input, an output control command that conforms to the corresponding control command is output.