The information processing device 1B includes an acquisition unit 51A, a potential function synthesizing unit 53A, and an objective function outputting unit 54A. The acquisition unit 51A acquires a task logical expression in which an objective task to be performed by a robot is expressed by a combination of a plurality of atomic tasks. The potential function synthesizing unit 53A synthesizes atomic potential functions, each of which is a potential function corresponding to each of the atomic tasks, based on the task logical expression. The objective function output unit 54A outputs an atomic potential function synthesized based on the task logical expression as an objective function for controlling the robot.