Leveraging Topological Maps in Deep Reinforcement Learning for Multi-Object Navigation

Simon Hakenes; Tobias Glasmachers

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arXiv · 2310.10250

Leveraging Topological Maps in Deep Reinforcement Learning for Multi-Object Navigation

Simon Hakenes·Tobias Glasmachers

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Abstract

This work addresses the challenge of navigating expansive spaces with sparse rewards through Reinforcement Learning (RL). Using topological maps, we elevate elementary actions to object-oriented macro actions, enabling a simple Deep Q-Network (DQN) agent to solve otherwise practically impossible environments.

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Simon Hakenes, Tobias Glasmachers. 2023-10-16. Leveraging Topological Maps in Deep Reinforcement Learning for Multi-Object Navigation. https://arxiv.org/abs/2310.10250

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