One-sided and ambiguity-aware policy repair

Develop policy repair that recovers the correct interface transformation from only the rewritten robot description and that handles correspondence recovery when identical kinematic branches make the mapping ambiguous.

Background

The paper demonstrates exact two-sided repair when both the original and rewritten descriptions are available, and it also shows that structural matching can recover correspondences when names are replaced. However, the reported experiments do not solve recovery from the rewritten description alone or policy-level repair in cases where identical branches admit multiple correspondences. These unresolved cases matter for deployment scenarios in which the original description or an unambiguous structural mapping is unavailable.

References

Repair is two-sided throughout, so recovery from the rewritten description alone remains open, as does policy-level repair where identical branches make the correspondence ambiguous.

— The Robot Is Not Its Description: GaugeBench for Representation Robustness in Morphology-Aware Policies  (2610.07597 - Malladi et al., 6 Oct 2026) in Section Discussion and Limitations