LEARNING METHOD AND PROGRAM

According to one embodiment, a learning method, comprises receiving a first signal including a previous auxiliary variable value, previous action information regarding a previous action, or a set of previous scores, receiving current sensor data, selecting a current action of the control target based on the first signal, the current sensor data, and a parameter for obtaining a score from sensor data, causing the control target to execute the current action, receiving next sensor data and a reward, and updating the parameter based on the current sensor data, current action information regarding the current action, the next sensor data, and the reward. A degree of selecting a previous action as the current action is increased.