Explore Where It Matters: Targeted Exploration for Efficient Rover Adaptation
arXiv:2610.38657v1 Announce Type: cross Abstract: Future planetary rovers will traverse steep, deformable terrain where slip, sinkage, and terrain deformation can threaten mobility. Although simulation can capture some wheel-soil effects, unmodeled deformable-terrain phenomena create sim-to-real gaps requiring deployment-time adaptation. Yet, rover operations leave little room for extensive trial-and-error. We introduce TERRA (Targeted Exploration for Reward-Relevant Adaptation), an online adap…