A device and method for controlling a robotic device. The method includes: training a control model, which includes a parameter model and an object model, including: providing for each initial state-target state pair of a plurality of initial state-target state pairs a control state sequence, including states and transition states, each transition state being assigned a set of task parameters; ascertaining a set of state transition-state-state transition triples, and for each: adapting the parameter model so that the parameter model ascertains a probability distribution for each task parameter from the set of task parameters, which is assigned to the state transition following the state, adapting the object model so that the object model ascertains for each object a probability distribution for the state of the object; and controlling the robotic device with the control model using the trained parameter model and the trained object model.