Patent Document ID: 20120253514
Application ID: 13432094
Patent Flag: 0

Claim One:
1. A reinforcement learning apparatus comprising: a reward function storage unit in which a reward function for outputting a reward can be stored; a first-type environment parameter obtaining unit that obtains a value of one or more first-type environment parameters relating to an environment of a moving control object; a control parameter value calculation unit that calculates a value of one or more control parameters maximizing a reward that is output by the reward function by substituting the value of the one or more first-type environment parameters into the reward function; a control parameter value output unit that outputs the value of the one or more control parameters to the control object; a virtual external force function storage unit in which a virtual external force function for outputting a virtual external force can be stored, a second-type environment parameter obtaining unit that obtains a value of one or more second-type environment parameters relating to the virtual external force; a virtual external force calculation unit that calculates the virtual external force by substituting the value of the one or more second-type environment parameters into the virtual external force function; and a virtual external force output unit that outputs the virtual external force to the control object.