Hierarchical Reinforcement Learning for Robot Navigation

摘要

Abstract. For complex tasks, such as manipulation and robot navi-gation, reinforcement learning (RL) is well-known to be difficult due to the curse of dimensionality. To overcome this complexity and making RL feasible, hierarchical RL (HRL) has been suggested. The basic idea of HRL is to divide the original task into elementary subtasks, which can be learned using RL. In this paper, we propose a HRL architecture for learn-ing robot’s movements, e.g. robot navigation. The proposed HRL consists of two layers: (i) movement planning and (ii) movement execution. In the planning layer, e.g. generating navigation trajectories, discrete RL is employed while using movement primitives. Given the movement plan-ning and corresponding primitives, the policy for the movement execution can be learned in the second layer using continuous RL. The proposed approach is implemented and evaluated on a mobile robot platform for a navigation task. 1