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Table 2 RMSEs and LOGLIKs of reference GPR models for slip (Fig. 6) and power consumption (Fig. 7)

From: Terrain traversability prediction for off-road vehicles based on multi-source transfer learning

Surface domain

Slip

Power

RMSE

LOGLIK

RMSE

LOGLIK

Rough sand

0.092

84.690

1.804

– 185.559

Loose sand

0.049

91.877

1.724

–112.760

Compacted sand

0.053

102.406

1.394

–117.295

Small rocks

0.286

–11.315

3.022

–133.898

Gravel

0.145

18.488

2.075

–113.108

Gravel with sand

0.091

61.798

1.728

–126.181

Sand over bedrock

0.215

3.857

1.983

–72.022

Sand-covered bedrock

0.159

12.642

1.562

–62.648

Bedrock

0.110

17.169

2.267

–56.038