{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/adaptive-meta-learning-for-identification-of","title":"Adaptive Meta-Learning for Identification of Rover-Terrain Dynamics","arxiv_id":"2009.10191","date":"2020-09-21","proceeding":null,"authors":["S. Banerjee","J. Harrison","P. M. Furlong","M. Pavone"],"abstract":"Rovers require knowledge of terrain to plan trajectories that maximize safety and efficiency. Terrain type classification relies on input from human operators or machine learning-based image classification algorithms. However, high level terrain classification is typically not sufficient to prevent incidents such as rovers becoming unexpectedly stuck in a sand trap; in these situations, online rover-terrain interaction data can be leveraged to accurately predict future dynamics and prevent further damage to the rover. This paper presents a meta-learning-based approach to adapt probabilistic predictions of rover dynamics by augmenting a nominal model affine in parameters with a Bayesian regression algorithm (P-ALPaCA). A regularization scheme is introduced to encourage orthogonality of nominal and learned features, leading to interpretable probabilistic estimates of terrain parameters in varying terrain conditions.","url_abs":"https://arxiv.org/abs/2009.10191v1","url_pdf":"https://arxiv.org/pdf/2009.10191v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"adaptive-meta-learning-for-identification-of","repo_url":"https://github.com/StanfordASL/rover-meta-learning","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"classification-1","task_name":"Classification"},{"task_slug":"classification","task_name":"General Classification"},{"task_slug":"image-classification","task_name":"Image Classification"},{"task_slug":"meta-learning","task_name":"Meta-Learning"},{"task_slug":"sand","task_name":"Sand"},{"task_slug":"image-classification","task_name":"image-classification"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2009.10191","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2009.10191"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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