A Fusion Method of Local Path Planning for Mobile Robots Based on LSTM Neural Network and Reinforcement Learning

Table 7

Detailed information about model training.

Epoch	Iteration	Time	Mini-batch RMSE	Mini-batch Loss	Learning rate
1	1	00 : 01	0.59	0.2	0.005
100	200	02 : 36	0.05	1.0e − 03	0.005
200	400	05 : 16	0.04	6.7e − 04	0.005
300	600	07 : 50	0.03	5.5e − 04	0.005
400	800	10 : 23	0.03	4.3e − 04	0.005
500	1000	13 : 13	0.03	4.4e − 04	0.005
600	1200	15 : 50	0.03	3.5e − 04	0.005