published by the instituto terra brasil, an institute dedicated to the preservation of the environment, ecotourism, and education, publishes on this link a map of the caves in the tijuca forest. 

also published by the instituto terra brasil, this page lists a variety of maps for the trails in the parque da tijuca, including caves and waterfalls, divided by sectors.  

published by the instituto municipal de urbanismo pereira passos, with the prefecture of the city of rio de janeiro, only downloadable in a zip file, this excellent map shows the foresta da tijuca in great details - including trails, rivers, points of interest, waterfalls, mirantes, and dangerous areas to avoid.