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Table 4 Domain similarity \(\lambda _i\) and weight \(w_i\) learned for each source domain for the slip modeling in Evaluation 1

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

Target domain

Source domain

\(\lambda _i\)

\(w_i\)

Rough sand

Compacted sand

0.974

0.338

Small rocks

0.929

0.324

Gravel

0.973

0.338

Bedrock

0.719

0.000

Gravel with sand

Compacted sand

–0.419

0.000

Small rocks

0.929

0.325

Gravel

0.973

0.339

Bedrock

0.962

0.336

Sand over bedrock

Compacted sand

0.954

0.250

Small rocks

0.929

0.244

Gravel

0.973

0.255

Bedrock

0.962

0.252

Sand-covered bedrock

Compacted sand

–0.476

0.000

Small rocks

0.923

0.490

Gravel

–0.476

0.000

Bedrock

0.962

0.510