I would love to see a write-up of everything we've learned about wheel engineering from the Mars rovers. What would the team(s) responsible for Curiousity's whe

I would love to see a write-up of everything we've learned about wheel engineering from the Mars rovers. What would the team(s) responsible for Curiousity's wheels do different now? (I don't mean to imply that their design is not successful -- just that I'm sure they've learned from this iteration)