File size: 976 Bytes
6860975 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 | RoboDojo supports domain randomization (DR) during evaluation. Each episode can sample a different visual and physical scene configuration, helping policies generalize beyond a single tabletop appearance. Your browser does not support the video tag. Domain randomization demo — varying clutter, materials, lighting, and background across episodes What can be randomized Section titled “What can be randomized” RoboDojo can randomize five major aspects of the scene: Aspect Description Cluttered tabletop objects Extra distractor objects placed on the table to increase scene complexity Table material Random table surface appearance Floor material Random ground or floor texture and material Lighting Random light type, intensity and color temperature Background Random HDR environment map and background appearance Together, these variations change the scene appearance from episode to episode while keeping the underlying task definition unchanged. |