Yes. Although there's another word entirely for ceremonial robes, "talaro". In Esperanto, in a lot of cases if you want to make finer distinctions, it isn't with a huge vocabulary of unrelated words. Instead, you'd clarify the existing one in some way. For example, if you wanted to make it clear that you were talking about a bathrobe, just like in English you could call it a "banrobo", since the Esperanto word for bath is "bano".