Autonomous control system, autonomous control method, and storage medium

An autonomous control method comprising:

• acquiring state data of a robot, visual data of the robot, and tactile data of the robot;
• deciding on an action of the robot capable of accomplishing a task given to the robot on the basis of the state data, the visual data, and the tactile data;
• generating first compressed data having a smaller number of dimensions than data obtained by combining the visual data and the tactile data by fusing and dimensionally compressing the visual data and the tactile data;
• generating second compressed data having a smaller number of dimensions than the tactile data by dimensionally compressing the tactile data;
• and
• deciding on the action on the basis of combined state data obtained by combining the state data, the first compressed data, and the second compressed data into one.

A computer-readable non-transitory storage medium storing a program for causing a computer to:

• acquire state data of a robot, visual data of the robot, and tactile data of the robot;
• decide on an action of the robot capable of accomplishing a task given to the robot on the basis of the state data, the visual data, and the tactile data;
• generate first compressed data having a smaller number of dimensions than data obtained by combining the visual data and the tactile data by fusing and dimensionally compressing the visual data and the tactile data;
• generate second compressed data having a smaller number of dimensions than the tactile data by dimensionally compressing the tactile data;
• and
• decide on the action on the basis of combined state data obtained by combining the state data, the first compressed data, and the second compressed data into one.