End-to-End Autonomous Exploration with Deep Reinforcement Learning and Intrinsic Motivation

Table 6

Experiment results of learning exploration with fine-tuning method (exist extrinsic reward).

Environment	Method	Reward	MER (%)	IQRE
Maze-1	ICM + scratch	584.59	100.00	7.93
	Ours + scratch	586.32	100.00	4.72
	ICM + fine-tuning	583.74	100.00	9.13
	Ours + fine-tuning	586.56	100.00	7.24
Maze-2	ICM + scratch	567.28	100.00	8.07
	Ours + scratch	571.87	100.00	5.15
	ICM + fine-tuning	514.63	89.46	N/A
	Ours + fine-tuning	569.44	100.00	6.83
Maze-3	ICM + scratch	532.27	91.64	N/A
	Ours + scratch	579.65	100.00	6.54
	ICM + fine-tuning	483.16	82.95	N/A
	Ours + fine-tuning	542.68	92.63	N/A