In a simple task domain, human programmer can do that to some extent, but seems difficult to cope with possible situations completely. An opposite approach is learning to decide action selection given almost no a priori knowledge. Between them, several variations with more or less knowledge. These approaches should be evaluated in various kinds of viewpoints. In order to evaluate the achieved skills, we set up the following standard tasks with some variations.
Variations are different configurations of the ball near the robot and the target area.
Variations are the same as the above. 1 with stationary obstacles. Different densities of obstacles makes variations. 2 with stationary obstacles. Different densities of obstacles makes variations.