ROBOT CONTROL MODEL LEARNING METHOD, ROBOT CONTROL MODEL LEARNING DEVICE, ROBOT CONTROL MODEL LEARNING PROGRAM, ROBOT CONTROL METHOD, ROBOT CONTROL DEVICE, ROBOT CONTROL PROGRAM, AND ROBOT

A robot control model learning device (10) performs, by using state information indicating the state of a robot which autonomously travels to a destination in a dynamic environment as an input, reinforcement learning to obtain a robot control model for selecting and outputting a behavior in accordance with the state of the robot from among a plurality of behaviors including an intervention behavior for intervening in the environment, while using the number of times the intervention behavior has been performed as a minus reward.