The invention discloses a
robot teleoperation control method based on non-
delay data training in a
delay environment, and the method comprises the following steps: S1, collecting an offline
data set obtained when a
robot executes a task in a non-
delay environment, the offline
data set comprising a plurality of tracks, and each track comprising a
state sequence, an action sequence and a reward sequence; s2, reconstructing a
state sequence and an action sequence in the offline
data set to generate an information
state sequence suitable for a delay environment; s3, performing state
estimation on the information state sequence to obtain a prediction state sequence; s4, based on the information state sequence and the prediction state sequence, an offline
reinforcement learning algorithm is adopted to
train a strategy model, and the strategy model is used for outputting an action instruction for controlling the
robot based on the prediction state sequence in a delay environment; and S5, controlling the robot to execute a
teleoperation task by adopting the trained strategy model in a delayed environment. According to the invention, safe, efficient and reliable control of
robot teleoperation in a delayed environment is realized.