Path Planning for Robots Combined with Zero-Shot and Hierarchical Reinforcement Learning in Novel Environments

摘要

Path planning for robots based on reinforcement learning encounters challenges in integrating semantic information about environments into the training process. In unseen or complex environmental information, agents often perform sub-optimally and require more training time. In response to these challenges, this manuscript pioneers a framework integrating zero-shot learning combined with hierarchical reinforcement learning to enhance agent decision-making in complex environments. Zero-shot learning enables agents to infer correct actions for previously unseen objects or situations based on learned semantic associations. Subsequently, the path planning component utilizes hierarchical reinforcement learning with adaptive replay buffer, directed by the insights gained from zero-shot learning, to make decisions effectively. Two parts are trained separately, so zero-shot learning is available in different and unseen environments. Through simulation experiments, we compare the traditional hierarchical reinforcement learning method with the proposed method. The results prove that this structure can make full use of environmental information to generalize across unseen environments and plan collision-free paths.