Abstract: A constraint condition learning device 1X mainly includes a conversion means 15X and a constraint condition estimation means 16X. The conversion means 15X converts first time series data regarding a state and an input of a robot system during an execution period of a task executed by the robot system into second time series data represented by propositions. The constraint condition estimation means 16X estimates a constraint condition on the task as a logical formula, based on the second time series data and the information regarding whether or not the task succeeded.

Abstract: A learning device 1X mainly includes an optimization problem calculation means 51X and an executable state set learning means 52X. The optimization problem calculation means 51X calculates a function value to be a solution for an optimization problem which uses an evaluation function for evaluating reachability to a target state, based on an abstract system model and a detailed system model concerning a system in which a robot operates. The executable state set learning means 52X learns an executable state set of an action of the robot to be executed by a controller based on a function value.

Abstract: A proposition setting device 1X mainly includes an abstract state setting means 31X and a proposition setting means 32X. The abstract state setting means 31X sets an abstract state which is a state abstracting each object in a workspace based on a measurement result in the workspace where each robot works. The proposition setting means 32X sets a propositional area which represents a proposition concerning each object by an area, based on the abstract state and a relative area information which is information concerning a relative area of each object.

Abstract: The temporal logic formula generation device 1X mainly includes a target relation logical formula generation means 331X and a target relation logical formula integration means 332X. The target relation logical formula generation means 331X is configured to generate, based on object-to-object relation information representing a relation between objects in a target state relating to a task of the robot, one or more target relation logical formulas that are temporal logic formulas representing relations, in the target state, between respective pair(s) of objects between which the relation is defined. The target relation logical formula integration means 332X is configured to generate a temporal logic formula into which the target relation logical formulas are integrated.

Abstract: A control device 1X mainly includes an abstract state setting means 31X, an environment map generation means 34X, an abstract model generation means 35X, and a control input generation means 36X. The abstract state setting means 31X sets an abstract state which abstractly represents a state of each object in a workspace where each robot works. The environment map generation means 34X generates an environment map which is a map representing accuracy of information in the workspace. The abstract model generation means 35X generates an abstract model which represents dynamics of the abstract state and a time change of the environment map. The control input generation means 36X generates a control input with respect to each robot based on the abstract model.

Abstract: The operation command generation device 1Y mainly includes a skill information acquisition means 341Y, a skill tuple generation means 342Y, and a skill use operation command generation means 343Y. The skill information acquisition means 341Y is configured to acquire skill information relating to a skill to be used in a motion planning of a robot. The skill tuple generation means 342Y is configured to generate, based on the skill information, a skill tuple which is a set of variables in a system model, the variables being associated with the skill, the system model being set in the motion planning. The skill use operation command generation means 343Y is configured to generate a skill use operation command that is a temporal logic command representing an operation corresponding to the skill tuple.

Abstract: A control device includes a processor configured to: calculate an estimated value of a contribution of a disturbance in a transition of an internal state of a dynamic power unit, based on a last internal state and a last control input by which the internal state is controlled; determine the control input so as to minimize a difference from a reference value of the control input by which the internal state becomes a predetermined internal state, under a condition that a sum of the estimated value of the contribution and a value of the constraint condition expression when there is not the disturbance at the current time is equal to or more than a value resulting from reducing a last value of the constraint condition expression by a predetermined ratio; and control the dynamic power unit in accordance with the determined control input.