# Abstracting Geo-specific Terrains to Scale Up Reinforcement Learning

arXiv: https://arxiv.org/abs/2503.20078 · HTML: https://mlsanity.com/paper/2503.20078/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Multi-agent reinforcement learning, one of 15 directions in Deep reinforcement learning methods.
- Builds on 8 of its 19 references that are in the map.
- First posted on arXiv 25 Mar 2025.

## Placed in

- Deep reinforcement learning methods / [Multi-agent reinforcement learning](https://mlsanity.com/deeprl/multi-agent-reinforcement-learning/)

## Builds on (most cited first, 8 of 8)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments](https://mlsanity.com/paper/1706.02275/) (2017)
- [The Surprising Effectiveness of PPO in Cooperative, Multi-Agent Games](https://mlsanity.com/paper/2103.01955/) (2021)
- [Counterfactual Multi-Agent Policy Gradients](https://mlsanity.com/paper/1705.08926/) (2017)
- [Human-level performance in first-person multiplayer games with population-based deep reinforcement learning](https://mlsanity.com/paper/1807.01281/) (2018)
- [Google Research Football: A Novel Reinforcement Learning Environment](https://mlsanity.com/paper/1907.11180/) (2019)
- [Unity: A General Platform for Intelligent Agents](https://mlsanity.com/paper/1809.02627/) (2018)
- [On the Use and Misuse of Absorbing States in Multi-agent Reinforcement Learning](https://mlsanity.com/paper/2111.05992/) (2021)

## Built on by (most cited first, 1 of 1)

- [A Data-Driven Discretized CS:GO Simulation Environment to Facilitate Strategic Multi-Agent Planning Research](https://mlsanity.com/paper/2509.06355/) (2025)

## Abstract (arXiv)

Multi-agent reinforcement learning (MARL) is increasingly ubiquitous in training dynamic and adaptive synthetic characters for interactive simulations on geo-specific terrains. Frameworks such as Unity's ML-Agents help to make such reinforcement learning experiments more accessible to the simulation community. Military training simulations also benefit from advances in MARL, but they have immense computational requirements due to their complex, continuous, stochastic, partially observable, non-stationary, and doctrine-based nature. Furthermore, these simulations require geo-specific terrains, further exacerbating the computational resources problem. In our research, we leverage Unity's waypoints to automatically generate multi-layered representation abstractions of the geo-specific terrains to scale up reinforcement learning while still allowing the transfer of learned policies between different representations. Our early exploratory results on a novel MARL scenario, where each side has differing objectives, indicate that waypoint-based navigation enables faster and more efficient learning while producing trajectories similar to those taken by expert human players in CSGO gaming environments. This research points out the potential of waypoint-based navigation for reducing the computational costs of developing and training MARL models for military training simulations, where geo-specific terrains and differing objectives are crucial.