The Robot Is Not Its Description: GaugeBench for Representation Robustness in Morphology-Aware Policies

תקציר מקורי באנגליתarXiv:2610.07597v1 Announce Type: cross Abstract: 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 weights. The result is stark: three MetaMorph policies sc