Attention-Based Surface Representation Learning for Robot State Prediction and Open-Ended Surface Classification

arXiv:2610.04240 · cs.RO, cs.AI, cs.LG · Submitted 2026-10-03 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-10-03

Updated: 2026-10-03

Code: https://github.com/okushnarev/transformer-cls

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Representation Learning — 1× in this paper · explained in 2 episodes

Sources

• Surface Type Classification for Autonomous Robot Indoor Navigation
• Prototypical Contrastive Learning of Unsupervised Representations

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