Inferring Soil Friction Angle from Robot Foot-Ground Force Histories: A Bayesian Inverse Approach to Proprioceptive Soil Sensing

arXiv:2609.36582 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Benchmark — 14× in this paper · explained in 2 episodes
• Inverse Problem — 5× in this paper · explained in 2 episodes
• Calibration — 4× in this paper · explained in 7 episodes
• World Model — 4× in this paper · explained in 7 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Forward modeling — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Uncertainty Quantification — 1× in this paper · explained in 8 episodes

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