Local-Minimum Escaper: Programmatic Subgoal Generation for Robust Navigation in Unknown Environments

arXiv:2609.38928 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Reinforcement Learning — 20× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 12× in this paper · explained in 2 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Ablation Studies — 4× in this paper · explained in 1 episode
• Benchmark — 4× in this paper · explained in 2 episodes
• Interpretability — 4× in this paper · explained in 15 episodes
• Local-Minimum Escaper — 4× in this paper
• Deep Reinforcement Learning (DRL) — 3× in this paper · explained in 2 episodes
• Dynamic Window Approach — 3× in this paper
• Hierarchical Framework — 3× in this paper · explained in 2 episodes
• Actor — 2× in this paper · explained in 3 episodes
• Adaptability — 2× in this paper · explained in 1 episode
• Artificial Potential Fields — 2× in this paper
• Bayesian Optimization — 2× in this paper · explained in 3 episodes
• Clustering — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Reward Function — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Unified Framework — 2× in this paper · explained in 5 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Angular Error — 1× in this paper · explained in 1 episode
• Benchmark for Autonomous Robot Navigation — 1× in this paper
• Meta-learning — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes

Sources

• MAER-Nav: Bidirectional Motion Learning Through Mirror-Augmented Experience Replay for Robot Navigation
• Curiosity-driven Exploration for Mapless Navigation with Deep Reinforcement Learning
• Soft Actor-Critic Algorithms and Applications
• A Survey on Interpretable Reinforcement Learning

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