Abstract: A computer-implemented method for predicting external resistive forces encountered by an industrial machine includes (a) predicting by a first model a resistive force applied to an industrial machine from an external material using previously collected sensor data, (b) predicting by a second model that is different from the first model an error of the resistive force predicted by the first model using the previously collected sensor data and the resistive force predicted by the first model, and (c) determining a corrected prediction of the resistive force by combining the resistive force predicted by the first model with the error predicted by the second model.