Robot arm control device, method for training hierarchical reinforcement learning model for robot arm control, and storage medium storing instructions to perform method training hierarchical reinforcement learning model for robot arm control

A hierarchical reinforcement learning method of a hierarchical reinforcement learning device including a first learning model and a second learning model for controlling a robot arm, the hierarchical reinforcement learning method comprising:

• acquiring an arbitrary target image, a virtual canvas image in which a virtual drawing operation of the robot arm for the target image is reflected, and a virtual nib image of the robot arm whose position is changed as the virtual drawing operation is reflected in the virtual canvas image;
• training the first learning model such that the virtual canvas image corresponds to the target image on the basis of a position of the virtual nib image in the virtual canvas image;
• training the second learning model such that a joint angle change amount of a virtual robot arm corresponds to a target position change amount of the virtual nib image;
• and
• controlling the robot arm according to the joint angle change amount.

A non-transitory computer-readable storage medium storing computer executable instructions, wherein the instructions, when executed by a processor, cause the processor to perform a robot arm control method using a hierarchical reinforcement learning model, the method comprising:

• acquiring an arbitrary target image, a virtual canvas image in which a virtual drawing operation of the robot arm for the target image is reflected, and a virtual nib image of the robot arm whose position is changed as the virtual drawing operation is reflected within the virtual canvas image;
• performing processing such that the hierarchical reinforcement learning model determines a position change amount of the virtual nib image in the virtual canvas image when the target image is input to the hierarchical reinforcement learning model;
• performing processing such that a joint angle change amount for driving the robot arm is output on the basis of the position change amount;
• and
• driving the robot arm according to the joint angle change amount.