Affine actions of higher rank lattices

We consider actions of lattices in certain higher rank simple Lie groups by affine (i.e. connection-preserving) transformations of a compact Riemannian manifold. When the dimension of the manifold is not too large, such actions are partially described here in terms of affine actions on the flat torus and isometric actions. The main tools are Marguils' and Zimmer's rigidity theorems.