ROBOT CONTROL MODEL LEARNING METHOD, ROBOT CONTROL MODEL LEARNING DEVICE, RECORDING MEDIUM STORING ROBOT CONTROL MODEL LEARNING PROGRAM, ROBOT CONTROL METHOD, ROBOT CONTROL DEVICE, RECORDING MEDIUM STORING 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.