Training device, handling system, training method, and storage medium

Abstract

According to one embodiment, a training device is configured to perform first to third training. The first training includes training a first policy in a simulation environment, the first policy being configured to determine a gripping operation of a robot arm including a gripper. The second training includes training a second policy in a real environment, the second policy being configured to determine the gripping operation of the robot arm. The third training includes training a model configured to output, according to an input of an image, grip information for gripping an object. The second training includes training the second policy by using an output from the first policy and sensor information acquired in the gripping operation. The third training includes training the model by using, as teaching data, a first image of a first environment of reality and grip information output from the second policy.

Dependencies are inferred from the claim text.