The disclosure includes a method of operating an exoskeleton system. The method includes determining a first state estimate for a current classification program being implemented by the exoskeleton system, determining a second state estimate for a reference classification program； determining that a difference between the first and second state estimate is greater than a classification program replacement threshold； generating an updated classification program； and replacing the current classification program with the updated classification program based at least in part on the determining that the difference between the first and second state estimates is greater than the classification program replacement threshold.
