sim2real.world · gap index · arXiv:2610.38657
Explore Where It Matters: Targeted Exploration for Efficient Rover Adaptation
- task
- steep deformable slope traversal
- hardware
- ERNEST rover
- simulator
- DARTS
- transfer
- online adaptation
- sim result
- approximately 90%
- real result
- within three to five real-world trials
The paper does not report a comparable success rate on both sides, so the gap cannot be computed.
What the paper says
In simulation, TERRA reaches approximately 90% slope-climbing success within five trials under severe out-of-distribution pretraining conditions, outperforming exploration baselines in reward, completion time, and energy to first success.
On the ERNEST rover, TERRA recovers coordinated active-suspension locomotion on a deformable Mars-simulant slope within three to five real-world trials.
What it does not report
- real-world slope-climbing success rate
- sim-to-real performance gap
- real-world energy or completion time
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