Teacher data generation apparatus and teacher data generation method

A teacher data generation apparatus, comprising:

• processing circuitry configured to
• acquire simulation sensor data indicating a surrounding environment of a mobile object, the simulation sensor data being reproduced in a mobile object simulator that acquires a control amount of the mobile object using a hyperparameter, and acquire simulation traveling data indicating a track on which the mobile object has traveled in the mobile object simulator;
• calculate a feature amount from the acquired simulation sensor data;
• evaluate whether or not the hyperparameter is a determined hyperparameter by comparing the acquired simulation traveling data with ideal traveling data;
• reset the hyperparameter when processing circuitry evaluates that the hyperparameter is not the determined hyperparameter, and repeatedly reset the hyperparameter until the processing circuitry evaluates that the hyperparameter is the determined hyperparameter;
• repeatedly operate the mobile object simulator to acquire a control amount of the mobile object using the reset hyperparameter;
• and
• generate teacher data in which the hyperparameter evaluated as the determined hyperparameter and the calculated feature amount are paired.