Before revision:  The simulation result shows our proposed method can get useful explanations to increase the user's trust to the network and also improve the network performance .
After revision:  The simulation result shows our proposed method can make useful and reasonable explanation for the trained model, which is beneficial for both non-expert users and controller designer. Finally, the real world tests shown the proposed controller can navigate the quadrotor to goal position successfully and the reactive controller performs much faster than some conventional approach under the same computation resource .