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The ability to both recognize and discover terrain characteristics is an important function required for many autonomous ground robots such as social robots, assistive robots, autonomous vehicles, and ground exploration robots. Recognizing and discovering terrain characteristics is challenging because similar terrains may have very different appearances (e.g., carpet comes in many colors), while terrains with very similar appearance may have very different physical properties (e.g. mulch versusarXiv:2010.06318v1 fatcat:25rhvy3tlncdpbpyc5y4vmuiay