# Terrain Classification Enhanced with Uncertainty for Space Exploration Robots from Proprioceptive Data

arXiv: https://arxiv.org/abs/2407.03241 · HTML: https://mlsanity.com/paper/2407.03241/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 30 references that are in the map.
- First posted on arXiv 3 Jul 2024.

## Builds on (most cited first, 10 of 10)

- [On Calibration of Modern Neural Networks](https://mlsanity.com/paper/1706.04599/) (2017)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [A Review of Uncertainty Quantification in Deep Learning: Techniques, Applications and Challenges](https://mlsanity.com/paper/2011.06225/) (2020)
- [Weight Uncertainty in Neural Networks](https://mlsanity.com/paper/1505.05424/) (2015)
- [BOHB: Robust and Efficient Hyperparameter Optimization at Scale](https://mlsanity.com/paper/1807.01774/) (2018)
- [Scalable Bayesian Optimization Using Deep Neural Networks](https://mlsanity.com/paper/1502.05700/) (2015)
- [Flipout: Efficient Pseudo-Independent Weight Perturbations on Mini-Batches](https://mlsanity.com/paper/1803.04386/) (2018)
- [DropConnect Is Effective in Modeling Uncertainty of Bayesian Deep Networks](https://mlsanity.com/paper/1906.04569/) (2019)
- [Towards a universal neural network encoder for time series](https://mlsanity.com/paper/1805.03908/) (2018)
- [Reliability Assurance for Deep Neural Network Architectures Against Numerical Defects](https://mlsanity.com/paper/2302.06086/) (2023)

## Abstract (arXiv)

Terrain Classification is an essential task in space exploration, where unpredictable environments are difficult to observe using only exteroceptive sensors such as vision. Implementing Neural Network classifiers can have high performance but can be deemed untrustworthy as they lack transparency, which makes them unreliable for taking high-stakes decisions during mission planning. We address this by proposing Neural Networks with Uncertainty Quantification in Terrain Classification. We enable our Neural Networks with Monte Carlo Dropout, DropConnect, and Flipout in time series-capable architectures using only proprioceptive data as input. We use Bayesian Optimization with Hyperband for efficient hyperparameter optimization to find optimal models for trustworthy terrain classification.