What's the best way to implement real time operant conditioning (supervised reward/punishment-based learning) for an agent? Should I use a neural network (and what type)? Or something else?

I want the agent to be able to be trained to follow commands like a dog. The commands would be in the form of gestures on a touchscreen. I want the agent to be able to be trained to follow a path (in continuous 2D space), make behavioral changes on command (modeled by FSM state transitions), and perform sequences of actions.

The agent would be in a simulated physical environment.