An exoskeleton system that includes: a plurality of actuators configured to be associated with body parts of a user wearing the exoskeleton system, and an exoskeleton computing device including: a plurality of sensors, a memory storing at least a classification program, and a processor that executes the classification program that controls the plurality of actuators based at least in part on classifications generated by the classification program of sensor data obtained from the plurality of sensors; wherein the exoskeleton system: determines a first state estimate for a current classification program being implemented by the exoskeleton system; determines a second state estimate for a reference classification program; determines that a difference between the first and second state estimate is greater than a classification program replacement threshold; generates an updated classification program; determines an accuracy for the current classification program; determines an accuracy for the updated classification program; determines a difference between the accuracy of the updated classification program and the current classification program; determines whether the accuracy difference is greater than a replacement threshold; and replaces 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, and based at least in part on the determining that the accuracy difference is greater than the replacement threshold. a plurality of actuators configured to be associated with body parts of a user wearing the exoskeleton system, and an exoskeleton computing device including: a plurality of sensors, a memory storing at least a classification program, and a processor that executes the classification program that controls the plurality of actuators based at least in part on classifications generated by the classification program of sensor data obtained from the plurality of sensors; wherein the exoskeleton system: a plurality of sensors, a memory storing at least a classification program, and a processor that executes the classification program that controls the plurality of actuators based at least in part on classifications generated by the classification program of sensor data obtained from the plurality of sensors; determines a first state estimate for a current classification program being implemented by the exoskeleton system; determines a second state estimate for a reference classification program; determines that a difference between the first and second state estimate is greater than a classification program replacement threshold; generates an updated classification program; determines an accuracy for the current classification program; determines an accuracy for the updated classification program; determines a difference between the accuracy of the updated classification program and the current classification program; determines whether the accuracy difference is greater than a replacement threshold; and replaces 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, and based at least in part on the determining that the accuracy difference is greater than the replacement threshold.