The Robot Is Not Its Description: GaugeBench for Representation Robustness in Morphology-Aware Policies
A robot description does more than specify a physical mechanism: it also encodes arbitrary conventions, such as joint-axis direction, joint-angle zero, and the order and names of links and joints. Morphology-aware policies consume interfaces built from these descriptions, yet cross-embodiment evaluation typically changes the robot while keeping those conventions fixed. This leaves a simple question unanswered: does behavior survive when the robot stays fixed but its description changes? GaugeBench isolates this case by rewriting a fixed mechanism under physically equivalent conventions, verifying that its physics and policy interface are preserved, and then evaluating the same policy weig...
| Authors | Rahath Malladi, Arshia Sangwan, Rajesh K. Gupta et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 October 2026 |
| Last updated at source | 6 October 2026 |
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