Table 2.

Result of ESS-MW with various thresholds on House100K environment

Training stage	Pretext task	Downstream ImageNet classification
Threshold	Training loss ↓	Training loss ↓	Test loss ↓	Test accuracy (%) ↑
(0.8, 12)	3.92 ± 0.003	4.62 ± 0.001	4.67 ± 0.004	18.39 ± 0.082
(0.4, 6)	3.77 ± 0.004	4.98 ± 0.326	4.67 ± 0.024	18.03 ± 0.114
(1.6, 24)	4.26 ± 0.003	4.72 ± 0.011	4.82 ± 0.013	17.61 ± 0.135