The invention relates to a neural network training and robot control method and device. The method comprises the steps that the environment observation information of a current period and the action information of a previous period are input into a neural network, and the state information of the current period is determined; the state information of a future period is predicted according to the state information of the current and historical periods; the action information of the current and future periods is determined according to the state information of the current and future periods; according to the action information and the state information of the current and historical periods, reward information of a future period is determined; and the neural network is trained according to the action information, the state information and the reward information of the current and future periods. According to the neural network training method, when the state information of the future period is predicted, the influence of the historical period can be considered, the neural network obtains global cognition on the training process in the training process, the training efficiency is improved, and the neural network training method easily adapts to a new environment.
Neural network training and robot control method and device