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

Table 5

Experiment results of learning exploration with fine-tuning method (no 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	585.16	100.00	7.58
	Ours + fine-tuning	585.45	100.00	5.14
Maze-2	ICM + scratch	567.28	100.00	8.07
	Ours + scratch	571.87	100.00	5.15
	ICM + fine-tuning	566.34	100.00	6.49
	Ours + fine-tuning	568.25	100.00	4.81
Maze-3	ICM + scratch	532.27	91.64	N/A
	Ours + scratch	579.65	100.00	6.54
	ICM + fine-tuning	573.49	100.00	7.23
	Ours + fine-tuning	572.86	100.00	4.73