Generalized value iteration networks: Life beyond lattices

Sufeng Niu, Siheng Chen, Hanyu Guo, Colin Targonski, Melissa C. Smith, Jelena Kovačević

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we introduce a generalized value iteration network (GVIN), which is an end-to-end neural network planning module. GVIN emulates the value iteration algorithm by using a novel graph convolution operator, which enables GVIN to learn and plan on irregular spatial graphs. We propose three novel differentiable kernels as graph convolution operators and show that the embedding-based kernel achieves the best performance. Furthermore, we present episodic Q-learning, an improvement upon traditional n-step Q-learning that stabilizes training for VIN and GVIN. Lastly, we evaluate GVIN on planning problems in 2D mazes, irregular graphs, and real-world street networks, showing that GVIN generalizes well for both arbitrary graphs and unseen graphs of larger scale and outperforms a naive generalization of VIN (discretizing a spatial graph into a 2D image).

Original languageEnglish (US)
Title of host publication32nd AAAI Conference on Artificial Intelligence, AAAI 2018
PublisherAAAI press
Pages6246-6253
Number of pages8
ISBN (Electronic)9781577358008
StatePublished - 2018
Event32nd AAAI Conference on Artificial Intelligence, AAAI 2018 - New Orleans, United States
Duration: Feb 2 2018Feb 7 2018

Publication series

Name32nd AAAI Conference on Artificial Intelligence, AAAI 2018

Other

Other32nd AAAI Conference on Artificial Intelligence, AAAI 2018
CountryUnited States
CityNew Orleans
Period2/2/182/7/18

ASJC Scopus subject areas

  • Artificial Intelligence

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