{"paper":{"title":"Learning and Autonomy for Extraterrestrial Terrain Sampling: An Experience Report from OWLAT Deployment","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Adriana Daca, Ashish Goel, Erica Tevere, Erik Kramer, Hari Nayar, Kris Hauser, Melkior Ornik, Pranay Thangeda, Yifan Zhu","submitted_at":"2023-11-29T07:16:34Z","abstract_excerpt":"Extraterrestrial autonomous lander missions increasingly demand adaptive capabilities to handle the unpredictable and diverse nature of the terrain. This paper discusses the deployment of a Deep Meta-Learning with Controlled Deployment Gaps (CoDeGa) trained model for terrain scooping tasks in Ocean Worlds Lander Autonomy Testbed (OWLAT) at NASA Jet Propulsion Laboratory. The CoDeGa-powered scooping strategy is designed to adapt to novel terrains, selecting scooping actions based on the available RGB-D image data and limited experience. The paper presents our experiences with transferring the s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.17405","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2311.17405/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}