# Hierarchical Learning for Maze Navigation: Emergence of Mental Representations via Second-Order Learning

arXiv: https://arxiv.org/abs/2509.14195 · HTML: https://mlsanity.com/paper/2509.14195/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 23 references that are in the map.
- First posted on arXiv 17 Sep 2025.

## Builds on (most cited first, 7 of 7)

- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [Relational inductive biases, deep learning, and graph networks](https://mlsanity.com/paper/1806.01261/) (2018)
- [HyperNetworks](https://mlsanity.com/paper/1609.09106/) (2016)
- [On First-Order Meta-Learning Algorithms](https://mlsanity.com/paper/1803.02999/) (2018)
- [Emergence of grid-like representations by training recurrent neural networks to perform spatial localization](https://mlsanity.com/paper/1803.07770/) (2018)

## Abstract (arXiv)

Mental representation, characterized by structured internal models mirroring external environments, is fundamental to advanced cognition but remains challenging to investigate empirically. Existing theory hypothesizes that second-order learning -- learning mechanisms that adapt first-order learning (i.e., learning about the task/domain) -- promotes the emergence of such environment-cognition isomorphism. In this paper, we empirically validate this hypothesis by proposing a hierarchical architecture comprising a Graph Convolutional Network (GCN) as a first-order learner and an MLP controller as a second-order learner. The GCN directly maps node-level features to predictions of optimal navigation paths, while the MLP dynamically adapts the GCN's parameters when confronting structurally novel maze environments. We demonstrate that second-order learning is particularly effective when the cognitive system develops an internal mental map structurally isomorphic to the environment. Quantitative and qualitative results highlight significant performance improvements and robust generalization on unseen maze tasks, providing empirical support for the pivotal role of structured mental representations in maximizing the effectiveness of second-order learning.