Methods are devised from the development of operation as three aspects of the performance of autonomous transport robots required at construction sites: explorability, safety, and versatility.
1. Explorability was enhanced by curiosity-driven exploration with intrinsic rewards, which reduced the number of externally rewarded items, and generalizability design improved accuracy.
2. Safety was achieved by creating safe areas for the agent and objects in the environment, as well as by granting negative rewards.
3. Generalizability is affected by the relationship between the variety of learning environments and learning accuracy fit.
