Before revision:  We construct an image based environment with distractors , on which we show that wrapping current state-of-the-art goal exploration algorithms with our framework allows them to concentrate on interesting regions of the environment and drastically improve performances.
After revision:  We construct a rich 3D image based environment with distractors , on which we show that wrapping current state-of-the-art goal exploration algorithms with our framework allows them to concentrate on interesting regions of the environment and drastically improve performances.