Information processing device, control method, and storage medium

A non-transitory computer readable storage medium storing a program executed by a computer, the program causing the computer to:

• convert an objective task expressed in natural language, which is a task to be performed with respect to a target object existing in a workspace by a robot and indicates a final state of the target object, into a temporal logical formula using one or more operators and one or more propositions;
• acquire constraint condition information indicative of a constraint condition to be satisfied in performing the objective task;
• generate a target logical formula obtained by adding a proposition indicative of the constraint condition to the logical formula by logical AND;
• generate, based on the target logical formula, a time step sequence of sub-tasks each of which is a task in units of command that the robot can accept;
• and
• control the robot in accordance with the time step sequence of the sub-tasks.

An information processing device comprising:

• at least one memory configured to store instructions;
• and
• at least one processor configured to execute the instructions to:
• convert an objective task expressed in natural language, which is a task to be performed with respect to a target object existing in a workspace by a robot and indicates a final state of the target object, into a temporal logical formula using one or more operators and one or more propositions;
• acquire constraint condition information indicative of a constraint condition to be satisfied in performing the objective task;
• generate a target logical formula obtained by adding a proposition indicative of the constraint condition to the logical formula by logical AND;
• generate, based on the target logical formula, a time step sequence of sub-tasks each of which is a task in units of command that the robot can accept;
• and
• control the robot in accordance with the time step sequence of the sub-tasks.