sudo -i and sudo -s should also run without arguments:
$ sudo-rs -i
sudo-rs: `': command not found
In original sudo, this gives you a shell into the root home directory. Similarly sudo -s is of course what everybody should use instead of sudo bash or sudo su.
Note that this should not be dealt with in the sudo-exec crate, since that runs post-permission checks (we must check that the user actually has permission to execute the shell)