Nine Trials to Recover: A Reproducible Benchmark for Repertoire-Free Soft-Robot Damage Adaptation

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Article Summary

We present a repertoire-free benchmark for soft-robot damage recovery under nine online trials. The protocol pairs damage masks within each morphology, retains a measured nominal fallback, and separates method development from evaluation on new bodies. A Gaussian-process expected-improvement (GP-EI) reference controller adapts actuator phases using three initialization probes and six feedback-selected rollouts. Across two disjoint 75-body cohorts, it outperforms random search, Sobol, CEM, and CMA-ES under equal budgets. GP-EI improves the worst-mask gain on 69/75 confirmation bodies and exceeds these four baselines by 0.235-0.310 mean worst-mask reward. A TuRBO-style local GP is the closest comparator; the paired confidence interval includes zero. Post-confirmation fixed-controller replay finds 5.06 voxel widths of mean recovery together with a 0.0031 increase in worst-mask p99 geometric edge strain; a strict no-added-demand deployment gate retains 48.7% of mean gain. In a frozen development stress test that physically removes 10% of occupied voxels, GP-EI improves 71/75 bodies and exceeds official BoTorch TuRBO by 0.356 mean worst-mask gain. Together, the replayable controllers, body-level inference, and frozen-cohort evaluation provide a reference for measuring the added value of learned damage priors and future adaptation methods.

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