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 chang...
Rahath Malladi, Arshia Sangwan, Rajesh K. Gupta et al.
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