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. We further propose
episodic Q-learning, an improvement upon traditional n-step Q-learning that
stabilizes training for networks that contain a planning module. 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).

该论文介绍了一个称为 GVIN 的神经网络规划模块，利用图卷积算子模拟价值迭代算法，并提出了三种不同可微分的卷积核，其中基于嵌入的卷积核表现最佳，进而提出了改进型 Q 学习，用于网络训练的稳定化。实验结果表明，GVIN 在二维迷宫、不规则图形和真实街道网络的规划问题上表现出优秀的泛化性能。