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cs.RO2026
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
Arthur Bouton, Tristan D. Hasseler, Michael Paton +5
This paper presents ERNEST, a four-wheeled planetary rover concept equipped with a two-degree-of-freedom Active Gimbal Suspension that combines yaw and roll actuation to enable whe…
cs.RO2026
Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation
Jacob Levy, Tyler Westenbroek, Kevin Huang +6
Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, w…