2025/06/04 by Nikita Oskolkov, Huzhenyu Zhang, Oskolkov, Nikita +7 · 2 citations
Computer Science · Engineering · #FOS: Computer and information sciences #Machine Learning (cs.LG) #Multimodal Machine Learning Applications #Reinforcement Learning in Robotics #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2506.04505
openalex publication_date 2025/06/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named SGN-CIRL (3D Scene Graph-Based Reinforcement Learning Navigation) for mapless reinforcement learning-based robot navigation with learnable representation of open-vocabulary 3D scene graph. To accelerate and stabilize the training of reinforcement learning-based algorithms, the framework also employs imitation learning and curriculum learning. The first one enables the agent to learn from demonstrations, while the second one structures the training process by gradually increasing task complexity from simple to more advanced scenarios. Numerical experiments conducted in the Isaac Sim environment showed that using a 3D scene graph for reinforcement learning significantly increased the success rate in difficult navigation cases. The code is open-sourced and available at: https://github.com/Xisonik/Aloha_graph.