Fig. 11

Influence of target training data on learned models in Evaluation 3. a RMSE of the slip prediction and b KLD of the distribution are plotted for the models learned from the training data with different upper boundaries of terrain inclination. The results for the four target domains are shown. RMSE and KLD decrease along with the increase of the maximum terrain inclination included in the training data. The proposed MS-TGPR-based method (green) learned the model with relatively smaller RMSE and KLD even when the target data was limited to approximately 3\(^\circ\). Its performance was almost as good as that of the reference GPR model with data up to approximately 7.5–15\(^\circ\), depending on the target domain