The Robot Is Not Its Description: GaugeBench for Representation Robustness in Morphology-Aware Policies
cs.RO, cs.LG
Submitted: 2026-10-06
Updated: 2026-10-06
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation
- Embedding Morphology into Transformers for Cross-Robot Policy Learning
- Toward Hardware-Agnostic Quadrupedal World Models via Morphology Conditioning
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models
- $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
- Geometric Deep Learning: Grids, Groups, Graphs, Geodesics, and Gauges
- Beyond Topology: A Morphological Symmetry Graph Representation for Locomotion Policy Learning
- Eq.Bot: Enhance Robotic Manipulation Learning via Group Equivariant Canonicalization
- Same Weights, Different Robot: A Deployment Safety View of VLA Policies
- Coordinate-Independent Robot Model Identification
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