  Since 2018, the ESPRESSO spectrograph at the VLT has been hunting for planets
in the Southern skies via the RV method. One of its goals is to follow up
candidate planets from transit surveys such as the TESS mission, particularly
small planets. We analyzed photometry from TESS and ground-based facilities,
high-resolution imaging, and RVs from ESPRESSO, HARPS, and HIRES, to confirm
and characterize three new planets: TOI-260 b, transiting a late K-dwarf, and
TOI-286 b and c, orbiting an early K-dwarf. We also update parameters for the
known super-Earth TOI-134 b , hosted by an M-dwarf. TOI-260 b has a
$13.475853^{+0.000013}_{-0.000011}$ d period, $4.23 \pm1.60 \mathrm{M_\oplus}$
mass and $1.71\pm0.08\mathrm{R_\oplus}$ radius. For TOI-286 b we find a
$4.5117244^{+0.0000031}_{-0.0000027}$ d period, $4.53\pm0.78\mathrm{M_\oplus}$
mass and $1.42\pm0.10\mathrm{R_\oplus}$ radius; for TOI-286 c, a
$39.361826^{+0.000070}_{-0.000081}$ d period, $3.72\pm2.22\mathrm{M_\oplus}$
mass and $1.88\pm 0.12\mathrm{R_\oplus}$ radius. For TOI-134 b we obtain a
$1.40152604^{+0.00000074}_{-0.00000082}$ d period,
$4.07\pm0.45\mathrm{M_\oplus}$ mass, and $1.63\pm0.14\mathrm{R_\oplus}$ radius.
Circular models are preferred for all, although for TOI-260 b the eccentricity
is not well-constrained. We compute bulk densities and place the planets in the
context of composition models. TOI-260 b lies within the radius valley, and is
most likely a rocky planet. However, the uncertainty on the eccentricity and
thus on the mass renders its composition hard to determine. TOI-286 b and c
span the radius valley, with TOI-286 b lying below it and having a likely rocky
composition, while TOI-286 c is within the valley, close to the upper border,
and probably has a significant water fraction. With our updated parameters for
TOI-134 b, we obtain a lower density than previous findings, giving a rocky or
Earth-like composition.
