Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy. - Haiyue Chen; Aniket Datar; Tong Xu; Francesco Cancelliere; Harsh Rangwala; Madhan B. Rao; Daeun Song; David Eichinger; Xuesu Xiao (CoRR, 2025)