用路径点抽象地形，让军事模拟强化学习更高效

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.